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math: support max of three values additional to min and use it everywhere

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This commit is contained in:
Matthias Grob
2021-12-07 21:06:51 +01:00
parent e8676fe87a
commit 68e2940f58
12 changed files with 18 additions and 12 deletions
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src/drivers/imu/invensense/icm20602/ICM20602.hpp
+1 -1
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@@ -76,7 +76,7 @@ private:
static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/icm20649/ICM20649.hpp
+1 -1
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@@ -76,7 +76,7 @@ private:
static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4500 Hz accel
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/icm20948/ICM20948.hpp
+1 -1
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@@ -78,7 +78,7 @@ private:
static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4500 Hz accel
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/icm42605/ICM42605.hpp
+1 -1
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@@ -75,7 +75,7 @@ private:
static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/icm42688p/ICM42688P.hpp
+1 -1
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@@ -75,7 +75,7 @@ private:
static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/mpu6500/MPU6500.hpp
+1 -1
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@@ -76,7 +76,7 @@ private:
static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/imu/invensense/mpu9250/MPU9250.hpp
+1 -1
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@@ -78,7 +78,7 @@ private:
static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
// Transfer data
struct FIFOTransferBuffer {
src/drivers/uavcan/sensors/gnss.cpp
+1 -1
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@@ -335,7 +335,7 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType>
}
if (valid_vel_cov) {
report.s_variance_m_s = math::max(math::max(vel_cov[0], vel_cov[4]), vel_cov[8]);
report.s_variance_m_s = math::max(vel_cov[0], vel_cov[4], vel_cov[8]);
/* There is a nonlinear relationship between the velocity vector and the heading.
* Use Jacobian to transform velocity covariance to heading covariance