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53 lines
920 B
53 lines
920 B
/* |
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SITL handling - utility functions |
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This simulates the APM1 hardware sufficiently for the APM code to |
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think it is running on real hardware |
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Andrew Tridgell November 2011 |
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*/ |
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#include <unistd.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <string.h> |
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#include <math.h> |
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#include <stdint.h> |
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#include <fcntl.h> |
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#include <AP_Math.h> |
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#include "desktop.h" |
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#include "util.h" |
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void set_nonblocking(int fd) |
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{ |
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unsigned v = fcntl(fd, F_GETFL, 0); |
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fcntl(fd, F_SETFL, v | O_NONBLOCK); |
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} |
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double normalise(double v, double min, double max) |
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{ |
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while (v < min) { |
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v += (max - min); |
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} |
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while (v > max) { |
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v -= (max - min); |
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} |
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return v; |
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} |
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double normalise180(double v) |
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{ |
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return normalise(v, -180, 180); |
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} |
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// generate a random Vector3f of size 1 |
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Vector3f rand_vec3f(void) |
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{ |
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Vector3f v = Vector3f(rand_float(), |
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rand_float(), |
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rand_float()); |
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if (v.length() != 0.0) { |
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v.normalize(); |
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} |
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return v; |
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}
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