Merge pull request betaflight#11126 from mathiasvr/pr-int-exp

Use macros for power with integer exponents
4712 · Jun 28, 2022 · 00cd0e5 · 00cd0e5
2 parents 88ae4e9 + 1b95e3c
commit 00cd0e5
Show file tree

Hide file tree

Showing 5 changed files with 6 additions and 5 deletions.
diff --git a/src/main/common/maths.h b/src/main/common/maths.h
@@ -26,6 +26,7 @@
 #define sq(x) ((x)*(x))
 #endif
 #define power3(x) ((x)*(x)*(x))
+#define power5(x) ((x)*(x)*(x)*(x)*(x))
 
 // Undefine this for use libc sinf/cosf. Keep this defined to use fast sin/cos approximations
 #define FAST_MATH             // order 9 approximation

diff --git a/src/main/fc/rc.c b/src/main/fc/rc.c
@@ -208,7 +208,7 @@ float applyKissRates(const int axis, float rcCommandf, const float rcCommandfAbs
 float applyActualRates(const int axis, float rcCommandf, const float rcCommandfAbs)
 {
     float expof = currentControlRateProfile->rcExpo[axis] / 100.0f;
-    expof = rcCommandfAbs * (powf(rcCommandf, 5) * expof + rcCommandf * (1 - expof));
+    expof = rcCommandfAbs * (power5(rcCommandf) * expof + rcCommandf * (1 - expof));
 
     const float centerSensitivity = currentControlRateProfile->rcRates[axis] * 10.0f;
     const float stickMovement = MAX(0, currentControlRateProfile->rates[axis] * 10.0f - centerSensitivity);

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
@@ -338,7 +338,7 @@ float pidCompensateThrustLinearization(float throttle)
     if (pidRuntime.thrustLinearization != 0.0f) {
         // for whoops where a lot of TL is needed, allow more throttle boost
         const float throttleReversed = (1.0f - throttle);
-        throttle /= 1.0f + pidRuntime.throttleCompensateAmount * powf(throttleReversed, 2);
+        throttle /= 1.0f + pidRuntime.throttleCompensateAmount * sq(throttleReversed);
     }
     return throttle;
 }
@@ -348,7 +348,7 @@ float pidApplyThrustLinearization(float motorOutput)
     if (pidRuntime.thrustLinearization != 0.0f) {
         if (motorOutput > 0.0f) {
             const float motorOutputReversed = (1.0f - motorOutput);
-            motorOutput *= 1.0f + powf(motorOutputReversed, 2) * pidRuntime.thrustLinearization;
+            motorOutput *= 1.0f + sq(motorOutputReversed) * pidRuntime.thrustLinearization;
         }
     }
     return motorOutput;

diff --git a/src/main/flight/pid_init.c b/src/main/flight/pid_init.c
@@ -393,7 +393,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
 
 #ifdef USE_THRUST_LINEARIZATION
     pidRuntime.thrustLinearization = pidProfile->thrustLinearization / 100.0f;
-    pidRuntime.throttleCompensateAmount = pidRuntime.thrustLinearization - 0.5f * powf(pidRuntime.thrustLinearization, 2);
+    pidRuntime.throttleCompensateAmount = pidRuntime.thrustLinearization - 0.5f * sq(pidRuntime.thrustLinearization);
 #endif
 
 #if defined(USE_D_MIN)

diff --git a/src/main/io/gps.c b/src/main/io/gps.c
@@ -1787,7 +1787,7 @@ static void GPS_calculateDistanceFlownVerticalSpeed(bool initialize)
                 int32_t dir;
                 GPS_distance_cm_bearing(&gpsSol.llh.lat, &gpsSol.llh.lon, &lastCoord[GPS_LATITUDE], &lastCoord[GPS_LONGITUDE], &dist, &dir);
                 if (gpsConfig()->gps_use_3d_speed) {
-                    dist = sqrtf(powf(gpsSol.llh.altCm - lastAlt, 2.0f) + powf(dist, 2.0f));
+                    dist = sqrtf(sq(gpsSol.llh.altCm - lastAlt) + sq(dist));
                 }
                 GPS_distanceFlownInCm += dist;
             }