Skip to content

HTTPS clone URL

Subversion checkout URL

You can clone with
or
.
Download ZIP
Fetching contributors…

Cannot retrieve contributors at this time

115 lines (95 sloc) 2.914 kB
/*=====================================================================
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 "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));
}
quint64 groundTimeMilliseconds()
{
QDateTime time = QDateTime::currentDateTime();
time = time.toUTC();
/* Return seconds and milliseconds, in milliseconds unit */
quint64 seconds = time.toTime_t() * static_cast<quint64>(1000);
return static_cast<quint64>(seconds + (time.time().msec()));
}
qreal groundTimeSeconds()
{
QDateTime time = QDateTime::currentDateTime();
time = time.toUTC();
/* Return time in seconds unit */
quint64 seconds = time.toTime_t();
return static_cast<qreal>(seconds + (time.time().msec() / 1000.0));
}
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
angle = fmodf(angle, (float)M_PI);
}
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);
}
return angle;
}
int applicationVersion()
{
return APPLICATIONVERSION;
}
}
Jump to Line
Something went wrong with that request. Please try again.