[paparazzi-commits] [5372] removed warning by returning zero vector when eulers_dot_of_rates reach a singularity - by the way , is the name of the function really good ?

[antoine drouin]

Revision: 5372
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5372
Author:   poine
Date:     2010-08-15 15:51:43 +0000 (Sun, 15 Aug 2010)
Log Message:
-----------
removed warning by returning zero vector when eulers_dot_of_rates reach a 
singularity - by the way, is the name of the function really good ?

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/math/pprz_algebra_int.h

Modified: paparazzi3/trunk/sw/airborne/math/pprz_algebra_int.h
===================================================================
--- paparazzi3/trunk/sw/airborne/math/pprz_algebra_int.h        2010-08-15 
15:44:29 UTC (rev 5371)
+++ paparazzi3/trunk/sw/airborne/math/pprz_algebra_int.h        2010-08-15 
15:51:43 UTC (rev 5372)
@@ -763,7 +763,11 @@
       (_ed).theta = INT_MULT_RSHIFT(cphi, (_r).q, INT32_TRIG_FRAC) - 
INT_MULT_RSHIFT(sphi, (_r).r, INT32_TRIG_FRAC); \
       (_ed).psi = (int32_t)(((int64_t)sphi * (int64_t)(_r).q) / ctheta) + 
(int32_t)(((int64_t)cphi * (int64_t)(_r).r) / ctheta); \
     }                                                                  \
-                                                                       \
+    /* FIXME: What do you wanna do when you hit the singularity ? */   \
+    /* probably not return an uninitialized variable, or ?        */   \
+    else {                                                             \
+      INT_EULERS_ZERO(_ed);                                            \
+    }                                                                  \
   }
 
 #define INT32_EULERS_DOT_OF_RATES(_ed, _e, _r) 
INT32_EULERS_DOT_321_OF_RATES(_ed, _e, _r)