QGC.cc

/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

This file is part of the QGROUNDCONTROL project

    QGROUNDCONTROL is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    QGROUNDCONTROL is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

======================================================================*/

#include "QGC.h"

#include <qmath.h>
#include <float.h>

namespace QGC {

quint64 groundTimeUsecs()
{
    QDateTime time = QDateTime::currentDateTime();
    time = time.toUTC();
    /* Return seconds and milliseconds, in milliseconds unit */
    quint64 microseconds = time.toTime_t() * static_cast<quint64>(1000000);
    return static_cast<quint64>(microseconds + (time.time().msec()*1000));
}

float limitAngleToPMPIf(float angle)
{
    while (angle > (M_PI+FLT_EPSILON))
    {
        angle -= 2 * M_PI;
    }

    while (angle <= -(M_PI+FLT_EPSILON))
    {
        angle += 2 * M_PI;
    }

    return angle;
}

double limitAngleToPMPId(double angle)
{
    if (angle < -M_PI)
    {
        while (angle < -M_PI)
        {
            angle += M_PI;
        }
    }
    else if (angle > M_PI)
    {
        while (angle > M_PI)
        {
            angle -= M_PI;
        }
    }
    return angle;
}

int applicationVersion()
{
    return APPLICATIONVERSION;
}

}