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Merge pull request #294 from rav-rav/camMix 

improved speed of scaleRcCommandToFpvCamAngle
This commit is contained in:
borisbstyle 2016-03-24 00:26:42 +01:00
parent 391dad4a7b a34e9d7482
commit b7af576eb6
1 changed files with 13 additions and 2 deletions
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15
src/main/mw.c
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@ -204,10 +204,21 @@ void filterRc(void){
}
void scaleRcCommandToFpvCamAngle(void) {
//recalculate sin/cos only when masterConfig.rxConfig.fpvCamAngleDegrees changed
static uint8_t lastFpvCamAngleDegrees = 0;
static float cosFactor = 1.0;
static float sinFactor = 0.0;
if (lastFpvCamAngleDegrees != masterConfig.rxConfig.fpvCamAngleDegrees){
lastFpvCamAngleDegrees = masterConfig.rxConfig.fpvCamAngleDegrees;
cosFactor = cos_approx(masterConfig.rxConfig.fpvCamAngleDegrees * RAD);
sinFactor = sin_approx(masterConfig.rxConfig.fpvCamAngleDegrees * RAD);
}
int16_t roll = rcCommand[ROLL];
int16_t yaw = rcCommand[YAW];
rcCommand[ROLL] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * roll - sin(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * yaw, -500, 500);
rcCommand[YAW] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * yaw + sin(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * roll, -500, 500);
rcCommand[ROLL] = constrain(roll * cosFactor - yaw * sinFactor, -500, 500);
rcCommand[YAW] = constrain(yaw * cosFactor + roll * sinFactor, -500, 500);
}
void annexCode(void)