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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2011 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 <float.h>
return groundTimeMilliseconds() * 1000;
return static_cast<quint64>(QDateTime::currentMSecsSinceEpoch());
qreal groundTimeSeconds()
{
return static_cast<qreal>(groundTimeMilliseconds()) / 1000.0f;
}
float limitAngleToPMPIf(float angle)
{
if (angle > -20*M_PI && angle < 20*M_PI)
{
while (angle > ((float)M_PI+FLT_EPSILON))
{
angle -= 2.0f * (float)M_PI;
}
while (angle <= -((float)M_PI+FLT_EPSILON))
{
angle += 2.0f * (float)M_PI;
}
}
else
{
// Approximate
return angle;
}
double limitAngleToPMPId(double angle)
if (angle > -20*M_PI && angle < 20*M_PI)
{
if (angle < -M_PI)
{
while (angle < -M_PI)
{
angle += M_PI;
}
}
else if (angle > M_PI)
{
while (angle > M_PI)
{
angle -= M_PI;
}
}
}
else
{
// Approximate
angle = fmod(angle, M_PI);
}