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mathlib: get rid of now duplicate sign() function

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Instead use the one that was copied to the matrix library in
https://github.com/PX4/Matrix/pull/116/
This commit is contained in:
Matthias Grob
2020-03-17 10:01:42 +01:00
parent d313b0417a
commit eb3b0f6b55
9 changed files with 20 additions and 22 deletions
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src/lib/flight_tasks/tasks/Utility/VelocitySmoothing.cpp
+6 -3
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@@ -36,6 +36,9 @@
#include <cstdio>
#include <float.h>
#include <mathlib/mathlib.h>
#include <matrix/matrix/math.hpp>
using matrix::sign;
VelocitySmoothing::VelocitySmoothing(float initial_accel, float initial_vel, float initial_pos)
{
@@ -183,12 +186,12 @@ int VelocitySmoothing::computeDirection()
float vel_zero_acc = computeVelAtZeroAcc();
/* Depending of the direction, start accelerating positively or negatively */
int direction = math::sign(_vel_sp - vel_zero_acc);
int direction = sign(_vel_sp - vel_zero_acc);
if (direction == 0) {
// If by braking immediately the velocity is exactly
// the require one with zero acceleration, then brake
direction = math::sign(_state.a);
direction = sign(_state.a);
}
return direction;
@@ -199,7 +202,7 @@ float VelocitySmoothing::computeVelAtZeroAcc()
float vel_zero_acc = _state.v;
if (fabsf(_state.a) > FLT_EPSILON) {
float j_zero_acc = -math::sign(_state.a) * _max_jerk; // Required jerk to reduce the acceleration
float j_zero_acc = -sign(_state.a) * _max_jerk; // Required jerk to reduce the acceleration
float t_zero_acc = -_state.a / j_zero_acc; // Required time to cancel the current acceleration
vel_zero_acc = _state.v + _state.a * t_zero_acc + 0.5f * j_zero_acc * t_zero_acc * t_zero_acc;
}