On Sat, Oct 31, 2015 at 8:33 PM, Sreenath Dama <address@hidden> wrote:
Hi All,I have been looking into the code of guidance_v_adapt.c and came across the following lines.if (g_m_zdd > 0) {gv_adapt_Xmeas = (g_m_zdd + (thrust_applied >> 1)) / thrust_applied;} else {gv_adapt_Xmeas = (g_m_zdd - (thrust_applied >> 1)) / thrust_applied;}I understand that g_m_zdd represents the acceleration measured by the (IMU-9.81). It would be very helpful if someone could explain from where does the formula of gv_adapt_Xmeas come. Also g_m_zdd is left shifted by 24 while thrust is shifted by 0 (on scale of 0 to 9600) Hence, why are we adding variables with different shifts?Thanks,SrinathᐧOn Tue, Oct 27, 2015 at 2:24 PM, Alexandre Bustico <address@hidden> wrote:Le 26/10/2015 18:41, Flavio Justino a écrit :
Thanks for replying Felix ;) One last question: what about Double instead of float? What is the main difference (not theoretically as a programming type but for the case of paparazzi objectives). Do you think that it will have any interference in the results relatively to float? Thanks man =)
In term of performance, float (single precision floating point) is done by hardware on stm32f4 class of microcontroler,
but double (double precision floating point) is not accelerated and done by a library which come with gcc.
Using double will add cpu load which must be evaluated.
Future microcontrolers, based on arm cortex m7 core, will have accelerated double precision in hardware.
--
Alexandre
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