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Ashtech driver: Avoid unnecessary double precision conversion calls

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Lorenz Meier
2015-02-15 10:17:00 +01:00
parent e5e42650c4
commit 3bb0008af5
3 changed files with 49 additions and 43 deletions
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src/drivers/gps/ashtech.cpp
+25 -24
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@@ -68,10 +68,10 @@ int ASHTECH::handle_message(int len)
7 The checksum data, always begins with *
Fields 5 and 6 together yield the total offset. For example, if field 5 is -5 and field 6 is +15, local time is 5 hours and 15 minutes earlier than GMT.
*/
double ashtech_time = 0.0;
unsigned long long ashtech_time = 0;
int day = 0, month = 0, year = 0, local_time_off_hour __attribute__((unused)) = 0, local_time_off_min __attribute__((unused)) = 0;
if (bufptr && *(++bufptr) != ',') { ashtech_time = strtod(bufptr, &endp); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { ashtech_time = static_cast<unsigned long long>(strtod(bufptr, &endp)); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { day = strtol(bufptr, &endp, 10); bufptr = endp; }
@@ -100,7 +100,7 @@ int ASHTECH::handle_message(int len)
time_t epoch = mktime(&timeinfo);
if (epoch > GPS_EPOCH_SECS) {
uint64_t usecs = static_cast<uint64_t>((ashtech_sec - static_cast<uint64_t>(ashtech_sec))) * 1e6;
uint64_t usecs = static_cast<uint64_t>((ashtech_sec - static_cast<uint64_t>(ashtech_sec))) * 1000000;
// FMUv2+ boards have a hardware RTC, but GPS helps us to configure it
// and control its drift. Since we rely on the HRT for our monotonic
@@ -191,9 +191,10 @@ int ASHTECH::handle_message(int len)
lon = -lon;
}
_gps_position->lat = (int(lat * 0.01) + (lat * 0.01 - int(lat * 0.01)) * 100.0 / 60.0) * 10000000;
_gps_position->lon = (int(lon * 0.01) + (lon * 0.01 - int(lon * 0.01)) * 100.0 / 60.0) * 10000000;
_gps_position->alt = alt * 1000;
/* convert from degrees, minutes and seconds to degrees * 1e7 */
_gps_position->lat = static_cast<int>((int(lat * 0.01) + (lat * 0.01 - int(lat * 0.01)) * 100.0 / 60.0) * 10000000);
_gps_position->lon = static_cast<int>((int(lon * 0.01) + (lon * 0.01 - int(lon * 0.01)) * 100.0 / 60.0) * 10000000);
_gps_position->alt = static_cast<int>(alt * 1000);
_rate_count_lat_lon++;
if (fix_quality <= 0) {
@@ -221,7 +222,7 @@ int ASHTECH::handle_message(int len)
_gps_position->cog_rad =
0; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
_gps_position->vel_ned_valid = true; /**< Flag to indicate if NED speed is valid */
_gps_position->c_variance_rad = 0.1;
_gps_position->c_variance_rad = 0.1f;
_gps_position->timestamp_velocity = hrt_absolute_time();
return 1;
@@ -323,9 +324,9 @@ int ASHTECH::handle_message(int len)
lon = -lon;
}
_gps_position->lat = (int(lat * 0.01) + (lat * 0.01 - int(lat * 0.01)) * 100.0 / 60.0) * 10000000;
_gps_position->lon = (int(lon * 0.01) + (lon * 0.01 - int(lon * 0.01)) * 100.0 / 60.0) * 10000000;
_gps_position->alt = alt * 1000;
_gps_position->lat = static_cast<int>((int(lat * 0.01) + (lat * 0.01 - int(lat * 0.01)) * 100.0 / 60.0) * 10000000);
_gps_position->lon = static_cast<int>((int(lon * 0.01) + (lon * 0.01 - int(lon * 0.01)) * 100.0 / 60.0) * 10000000);
_gps_position->alt = static_cast<int>(alt * 1000);
_rate_count_lat_lon++;
if (coordinatesFound < 3) {
@@ -337,20 +338,19 @@ int ASHTECH::handle_message(int len)
_gps_position->timestamp_position = hrt_absolute_time();
double track_rad = track_true * M_PI / 180.0;
float track_rad = static_cast<float>(track_true) * M_PI_F / 180.0f;
double velocity_ms = ground_speed / 1.9438445; /** knots to m/s */
double velocity_north = velocity_ms * cos(track_rad);
double velocity_east = velocity_ms * sin(track_rad);
float velocity_ms = static_cast<float>(ground_speed) / 1.9438445f; /** knots to m/s */
float velocity_north = static_cast<float>(velocity_ms) * cosf(track_rad);
float velocity_east = static_cast<float>(velocity_ms) * sinf(track_rad);
_gps_position->vel_m_s = velocity_ms; /**< GPS ground speed (m/s) */
_gps_position->vel_n_m_s = velocity_north; /**< GPS ground speed in m/s */
_gps_position->vel_e_m_s = velocity_east; /**< GPS ground speed in m/s */
_gps_position->vel_d_m_s = -vertic_vel; /**< GPS ground speed in m/s */
_gps_position->cog_rad =
track_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
_gps_position->vel_ned_valid = true; /**< Flag to indicate if NED speed is valid */
_gps_position->c_variance_rad = 0.1;
_gps_position->vel_m_s = velocity_ms; /** GPS ground speed (m/s) */
_gps_position->vel_n_m_s = velocity_north; /** GPS ground speed in m/s */
_gps_position->vel_e_m_s = velocity_east; /** GPS ground speed in m/s */
_gps_position->vel_d_m_s = static_cast<float>(-vertic_vel); /** GPS ground speed in m/s */
_gps_position->cog_rad = track_rad; /** Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
_gps_position->vel_ned_valid = true; /** Flag to indicate if NED speed is valid */
_gps_position->c_variance_rad = 0.1f;
_gps_position->timestamp_velocity = hrt_absolute_time();
return 1;
@@ -398,8 +398,9 @@ int ASHTECH::handle_message(int len)
if (bufptr && *(++bufptr) != ',') { alt_err = strtod(bufptr, &endp); bufptr = endp; }
_gps_position->eph = sqrt(lat_err * lat_err + lon_err * lon_err);
_gps_position->epv = alt_err;
_gps_position->eph = sqrtf(static_cast<float>(lat_err) * static_cast<float>(lat_err)
+ static_cast<float>(lon_err) * static_cast<float>(lon_err));
_gps_position->epv = static_cast<float>(alt_err);
_gps_position->s_variance_m_s = 0;
_gps_position->timestamp_variance = hrt_absolute_time();