AP_Mount: Alexmos: increase precision on parsed angle #27305
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MattKear
commented
Jun 14, 2024
| #define AP_MOUNT_ALEXMOS_SPEED 30 // deg/s | ||
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| #define INT14_DEGREES = (360.0f / 0x3FFF) // 1 full rotation in degrees over 14 bit range | ||
| #define VALUE_TO_DEGREE(d) (float(d)*INT14_DEGREES) |
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This is the key bit that has changed to improve the angle precision
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rmackay9
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Jun 14, 2024
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This looks OK to me and it has been tested of course? |
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A client is testing this for me. I will report back once the testing has shown the improvement works. |
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Before we get integers:
After we get much smoother: |
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Noticed this issue when helping someone out. We are using integer math when calculating the angle in degrees from the provided value. This minor rework helps to maintaining a little more accuracy so that we don't round to integer degrees.
I have also done a little tidying by moving the defines to the .cpp.