APM:Libraries: libraries/AP_Math/definitions.h File Reference

APM:Libraries

#include <cmath>
#include <AP_HAL/AP_HAL.h>

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Macros
#define	M_PI (3.141592653589793f)

#define	M_PI_2 (M_PI / 2)

#define	M_GOLDEN 1.6180339f

#define	M_2PI (M_PI * 2)

#define	MATH_CHECK_INDEXES 0

#define	DEG_TO_RAD (M_PI / 180.0f)

#define	RAD_TO_DEG (180.0f / M_PI)

#define	DEGX100 5729.57795f

#define	RadiansToCentiDegrees(x) (static_cast<float>(x) * RAD_TO_DEG * static_cast<float>(100))

#define	GRAVITY_MSS 9.80665f

#define	RADIUS_OF_EARTH 6378100

#define	LATLON_TO_M 0.01113195f

#define	LATLON_TO_CM 1.113195f

#define	C_TO_KELVIN 273.15f

#define	ISA_GAS_CONSTANT 287.26f

#define	ISA_LAPSE_RATE 0.0065f

#define	SSL_AIR_DENSITY 1.225f

#define	SSL_AIR_PRESSURE 101325.01576f

#define	SSL_AIR_TEMPERATURE 288.15f

#define	AP_NSEC_PER_SEC 1000000000ULL

#define	AP_NSEC_PER_USEC 1000ULL

#define	AP_USEC_PER_SEC 1000000ULL

#define	AP_USEC_PER_MSEC 1000ULL

#define	AP_MSEC_PER_SEC 1000ULL

#define	AP_SEC_PER_WEEK (7ULL * 86400ULL)

#define	AP_MSEC_PER_WEEK (AP_SEC_PER_WEEK * AP_MSEC_PER_SEC)

Variables
static const double	WGS84_A = 6378137.0

static const double	WGS84_IF = 298.257223563

static const double	WGS84_F = ((double)1.0 / WGS84_IF)

static const double	WGS84_B = (WGS84_A * (1 - WGS84_F))

Macro Definition Documentation

◆ AP_MSEC_PER_SEC

#define AP_MSEC_PER_SEC 1000ULL

Definition at line 94 of file definitions.h.

Referenced by gps_time(), and AP_GPS_Backend::make_gps_time().

◆ AP_MSEC_PER_WEEK

#define AP_MSEC_PER_WEEK (AP_SEC_PER_WEEK * AP_MSEC_PER_SEC)

Definition at line 96 of file definitions.h.

Referenced by AP_GPS_SBP2::_attempt_state_update(), AP_GPS::setHIL(), and AP_GPS::time_epoch_convert().

◆ AP_NSEC_PER_SEC

#define AP_NSEC_PER_SEC 1000000000ULL

Definition at line 90 of file definitions.h.

Referenced by hz_to_nsec(), now_nsec(), and nsec_to_hz().

◆ AP_NSEC_PER_USEC

#define AP_NSEC_PER_USEC 1000ULL

Definition at line 91 of file definitions.h.

Referenced by Linux::TimerPollable::adjust_timer(), nsec_to_usec(), and usec_to_nsec().

◆ AP_SEC_PER_WEEK

#define AP_SEC_PER_WEEK (7ULL * 86400ULL)

Definition at line 95 of file definitions.h.

Referenced by gps_time(), and AP_GPS_Backend::make_gps_time().

◆ AP_USEC_PER_MSEC

#define AP_USEC_PER_MSEC 1000ULL

Definition at line 93 of file definitions.h.

Referenced by AP_Baro_BMP280::_init(), AP_Baro_LPS2XH::_init(), AP_Baro_MS56XX::_init(), AP_Baro_KellerLD::_init(), TSYS01::init(), AP_Baro_FBM320::init(), and AP_Baro_DPS280::init().

◆ AP_USEC_PER_SEC

#define AP_USEC_PER_SEC 1000000ULL

Definition at line 92 of file definitions.h.

Referenced by Linux::RCOutput_AeroIO::_hw_to_usec(), Linux::RCOutput_AeroIO::_usec_to_hw(), hz_to_usec(), and usec_to_hz().

◆ C_TO_KELVIN

#define C_TO_KELVIN 273.15f

Definition at line 74 of file definitions.h.

Referenced by AP_Airspeed_SDP3X::_correct_pressure(), AP_Baro_SITL::_timer(), AP_Baro::get_altitude_difference(), AP_Baro::get_EAS2TAS(), and AP_Baro::setHIL().

◆ DEG_TO_RAD

#define DEG_TO_RAD (M_PI / 180.0f)

Definition at line 30 of file definitions.h.

Referenced by AP_InertialSensor_LSM9DS1::_set_gyro_scale(), AP_InertialSensor_LSM9DS0::_set_gyro_scale(), longitude_scale(), and radians().

◆ DEGX100

#define DEGX100 5729.57795f

Definition at line 34 of file definitions.h.

Referenced by get_bearing_cd(), and AC_Circle::update().

◆ GRAVITY_MSS

#define GRAVITY_MSS 9.80665f

Definition at line 47 of file definitions.h.

Referenced by SITL::Calibration::_calibration_poses(), AP_InertialSensor_BMI160::_configure_accel(), AP_PitchController::_get_coordination_rate_offset(), AP_InertialSensor_LSM9DS1::_set_accel_scale(), AP_InertialSensor_LSM9DS0::_set_accel_scale(), AP_TECS::_update_energies(), AP_TECS::_update_pitch(), AP_TECS::_update_STE_rate_lim(), AC_WPNav::AC_WPNav(), AC_PosControl::accel_to_lean_angles(), AccelCalibrator::accept_result(), AC_Loiter::calc_desired_velocity(), AccelCalibrator::calc_residual(), NavEKF2_core::calcOutputStates(), NavEKF3_core::calcOutputStates(), SITL::Frame::calculate_forces(), SITL::Submarine::calculate_forces(), AP_AHRS_DCM::drift_correction(), SITL::Aircraft::extrapolate_sensors(), AP_YawController::get_servo_out(), NavEKF2_core::getAccelNED(), NavEKF3_core::getAccelNED(), AP_AHRS_NavEKF::getCorrectedDeltaVelocityNED(), SITL::Helicopter::Helicopter(), SITL::Frame::init(), AC_Loiter::init_target(), AC_PosControl::lean_angles_to_accel(), DataFlash_Class::Log_Write_Rate(), AP_L1_Control::loiter_radius(), SITL::Plane::Plane(), SoloGimbalEKF::predictStates(), SITL::XPlane::receive_data(), AP_InertialSensor::register_accel(), AC_PosControl::relax_alt_hold_controllers(), AC_PosControl::run_xy_controller(), AC_PosControl::run_z_controller(), AC_Loiter::sanity_check_params(), GCS_MAVLINK::send_raw_imu(), AC_Loiter::set_pilot_desired_acceleration(), AP_InertialSensor::simple_accel_cal(), AP_Baro::SimpleUnderWaterAtmosphere(), SITL::SingleCopter::SingleCopter(), SITL::Aircraft::smooth_sensors(), AccelCalibrator::start(), AP_InertialSensor_Invensense::start(), SITL::Tracker::update(), SITL::Helicopter::update(), SITL::SimRover::update(), SITL::Balloon::update(), SITL::SingleCopter::update(), SITL::FlightAxis::update(), Variometer::update(), AP_TECS::update_50hz(), SITL::Aircraft::update_dynamics(), NavEKF2_core::UpdateStrapdownEquationsNED(), and NavEKF3_core::UpdateStrapdownEquationsNED().

◆ ISA_GAS_CONSTANT

#define ISA_GAS_CONSTANT 287.26f

Definition at line 77 of file definitions.h.

Referenced by AP_Airspeed_SDP3X::_correct_pressure(), and AP_Baro::get_EAS2TAS().

◆ ISA_LAPSE_RATE

#define ISA_LAPSE_RATE 0.0065f

Definition at line 78 of file definitions.h.

Referenced by AP_Baro::get_EAS2TAS().

◆ LATLON_TO_CM

#define LATLON_TO_CM 1.113195f

Definition at line 55 of file definitions.h.

Referenced by Location_Class::get_vector_xy_from_origin_NE().

◆ LATLON_TO_M

#define LATLON_TO_M 0.01113195f

Definition at line 54 of file definitions.h.

◆ M_2PI

#define M_2PI (M_PI * 2)

Definition at line 19 of file definitions.h.

Referenced by DigitalLPF< Vector2f >::apply(), AC_PI_2D::calc_filt_alpha(), AC_PID_2D::calc_filt_alpha(), AC_PID_2D::calc_filt_alpha_d(), DigitalLPF< Vector2f >::compute_alpha(), AP_WheelEncoder::get_delta_angle(), AC_PID::get_filt_alpha(), TEST(), wrap_2PI(), and wrap_PI().

◆ M_GOLDEN

#define M_GOLDEN 1.6180339f

Definition at line 17 of file definitions.h.

◆ M_PI

#define M_PI (3.141592653589793f)

Definition at line 10 of file definitions.h.

Referenced by SITL::Calibration::_attitude_control(), AP_InertialSensor_RST::_init_gyro(), AP_L1_Control::_prevent_indecision(), AC_PosControl::accel_to_lean_angles(), CompassCalibrator::accept_sample(), Vector2< int32_t >::angle(), SITL::SimRover::calc_yaw_rate(), SoloGimbalEKF::calcMagHeadingInnov(), Compass::calculate_heading(), check_result(), DigitalBiquadFilter< Vector3f >::compute_params(), SITL::Plane::dragCoeff(), SITL::Aircraft::filtered_idx(), PID::get_pid(), AP_L1_Control::get_yaw(), NotchFilter< Vector3 >::init(), AC_Circle::init_start_angle(), loop(), AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(), rad_diff(), AP_MotorsHeli_Dual::servo_test(), AP_MotorsHeli_Single::servo_test(), setup(), AP_Mount_Servo::stabilize(), AccelCalibrator::start(), TEST(), test_quaternion_eulers(), AC_Circle::update(), AP_Landing_Deepstall::verify_land(), and wrap_PI().

◆ M_PI_2

#define M_PI_2 (M_PI / 2)

Definition at line 15 of file definitions.h.

Referenced by AP_Beacon::get_next_boundary_point(), safe_asin(), AP_L1_Control::update_heading_hold(), AP_L1_Control::update_loiter(), and wgsecef2llh().

◆ MATH_CHECK_INDEXES

#define MATH_CHECK_INDEXES 0

Definition at line 27 of file definitions.h.

◆ RAD_TO_DEG

#define RAD_TO_DEG (180.0f / M_PI)

Definition at line 31 of file definitions.h.

Referenced by AP_Mount_Alexmos::control_axis(), and degrees().

◆ RadiansToCentiDegrees

#define RadiansToCentiDegrees ( x ) (static_cast<float>(x) * RAD_TO_DEG * static_cast<float>(100))

Definition at line 44 of file definitions.h.

Referenced by AC_WPNav::advance_spline_target_along_track(), AC_WPNav::advance_wp_target_along_track(), AP_L1_Control::bearing_error_cd(), and AP_L1_Control::nav_bearing_cd().

◆ RADIUS_OF_EARTH

#define RADIUS_OF_EARTH 6378100

Definition at line 50 of file definitions.h.

◆ SSL_AIR_DENSITY

#define SSL_AIR_DENSITY 1.225f

Definition at line 82 of file definitions.h.

Referenced by AP_Airspeed_SDP3X::_correct_pressure(), and AP_Baro::get_EAS2TAS().

◆ SSL_AIR_PRESSURE

#define SSL_AIR_PRESSURE 101325.01576f

Definition at line 83 of file definitions.h.

Referenced by AP_Baro_SITL::_timer(), HALSITL::SITL_State::_update_airspeed(), AP_ADSB::send_dynamic_out(), AP_Baro::setHIL(), and AP_Baro::SimpleUnderWaterAtmosphere().

◆ SSL_AIR_TEMPERATURE

#define SSL_AIR_TEMPERATURE 288.15f

Definition at line 84 of file definitions.h.

Referenced by AP_Baro::SimpleAtmosphere().

Variable Documentation

◆ WGS84_A

const double WGS84_A = 6378137.0

static

Definition at line 58 of file definitions.h.

Referenced by wgsecef2llh(), and wgsllh2ecef().

◆ WGS84_B

const double WGS84_B = (WGS84_A * (1 - WGS84_F))

static

Definition at line 67 of file definitions.h.

Referenced by wgsecef2llh().

◆ WGS84_F

const double WGS84_F = ((double)1.0 / WGS84_IF)

static

Definition at line 64 of file definitions.h.

◆ WGS84_IF

const double WGS84_IF = 298.257223563

static

Definition at line 61 of file definitions.h.