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src: avoid use of double precision pow & exp

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saves around 5KB flash on px4-fmu-v5
This commit is contained in:
Beat Küng
2022-08-25 22:02:15 -04:00
committed by Daniel Agar
parent 983a9815eb
commit 060738cae1
4 changed files with 11 additions and 9 deletions
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src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_estimator/TargetEstimator.cpp
+1 -1
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@@ -193,7 +193,7 @@ void TargetEstimator::update_filter_gains(filter_gains_s &filter_gains) const
// The "G" gain is equivalent to "(1-responsiveness)", but beta is required for H and K gains
// From alpha-beta-gamma filter equations: G = 1-beta^3
// Therefore: beta = (1-Gp)^(1/3) = (1-(1-responsiveness))^(1/3) = (r)^(1/3)
const float beta_p = pow((filter_gains.responsiveness), 1.0f / 3.0f);
const float beta_p = powf((filter_gains.responsiveness), 1.0f / 3.0f);
const float beta_v = 0.9f * beta_p; // velocity fusion gain is slightly lower. TODO: individual parameter?
// Estimator gains for horizontal position update