You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
49 lines
1.6 KiB
49 lines
1.6 KiB
#pragma once |
|
|
|
#include <AP_HAL/AP_HAL_Boards.h> |
|
|
|
/* |
|
macros to allow code to build on multiple platforms more easily |
|
*/ |
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
|
/* |
|
allow double maths on Linux and SITL to avoid problems with system headers |
|
*/ |
|
#define ALLOW_DOUBLE_MATH_FUNCTIONS |
|
#endif |
|
|
|
// we need to include math.h here for newer compilers (eg. g++ 7.3.1 for stm32) |
|
#include <math.h> |
|
|
|
#if !defined(ALLOW_DOUBLE_MATH_FUNCTIONS) |
|
/* give warnings if we use double precision maths functions without |
|
specifying ALLOW_DOUBLE_TRIG_FUNCTIONS. Code should use the |
|
equivalent f function instead (eg. use cosf() instead of |
|
cos()). Individual cpp files that really do need double precision |
|
should define ALLOW_DOUBLE_TRIG_FUNCTIONS before including |
|
AP_Math.h |
|
*/ |
|
#define sin(x) DO_NOT_USE_DOUBLE_MATHS() |
|
#define cos(x) DO_NOT_USE_DOUBLE_MATHS() |
|
#define tan(x) DO_NOT_USE_DOUBLE_MATHS() |
|
#define acos(x) DO_NOT_USE_DOUBLE_MATHS() |
|
#define asin(x) DO_NOT_USE_DOUBLE_MATHS() |
|
#define atan(x) DO_NOT_USE_DOUBLE_MATHS() |
|
#define atan2(x,y) DO_NOT_USE_DOUBLE_MATHS() |
|
#define exp(x) DO_NOT_USE_DOUBLE_MATHS() |
|
#define pow(x,y) DO_NOT_USE_DOUBLE_MATHS() |
|
#define sqrt(x) DO_NOT_USE_DOUBLE_MATHS() |
|
#define log2(x) DO_NOT_USE_DOUBLE_MATHS() |
|
#define log10(x) DO_NOT_USE_DOUBLE_MATHS() |
|
#define ceil(x) DO_NOT_USE_DOUBLE_MATHS() |
|
#define floor(x) DO_NOT_USE_DOUBLE_MATHS() |
|
#define round(x) DO_NOT_USE_DOUBLE_MATHS() |
|
#define fmax(x,y) DO_NOT_USE_DOUBLE_MATHS() |
|
#if !HAL_WITH_UAVCAN |
|
// we should do log() and fabs() as well, but can't because of a conflict in uavcan |
|
#define log(x) DO_NOT_USE_DOUBLE_MATHS() |
|
#define fabs(x) DO_NOT_USE_DOUBLE_MATHS() |
|
#endif |
|
#endif |
|
|
|
|