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| author | jaseg <git-bigdata-wsl-arch@jaseg.de> | 2020-03-15 14:47:25 +0100 |
|---|---|---|
| committer | jaseg <git-bigdata-wsl-arch@jaseg.de> | 2020-03-15 14:47:25 +0100 |
| commit | fed186a49fc8f27a8a31fd40f8c8b26d32a4b932 (patch) | |
| tree | 5d4c2b8004031c5d13148296a760c896b18ebf83 /controller/fw/levmarq/levmarq.c | |
| parent | 0e8a0d6f78b027d251737adc37f3d56acf251e94 (diff) | |
| download | master-thesis-fed186a49fc8f27a8a31fd40f8c8b26d32a4b932.tar.gz master-thesis-fed186a49fc8f27a8a31fd40f8c8b26d32a4b932.tar.bz2 master-thesis-fed186a49fc8f27a8a31fd40f8c8b26d32a4b932.zip | |
Add end-to-end simulation
Diffstat (limited to 'controller/fw/levmarq/levmarq.c')
| -rw-r--r-- | controller/fw/levmarq/levmarq.c | 12 |
1 files changed, 1 insertions, 11 deletions
diff --git a/controller/fw/levmarq/levmarq.c b/controller/fw/levmarq/levmarq.c index 4636c79..4a764db 100644 --- a/controller/fw/levmarq/levmarq.c +++ b/controller/fw/levmarq/levmarq.c @@ -17,8 +17,6 @@ #include <stdio.h> #include <math.h> -#include <arm_math.h> - #include "levmarq.h" #include "simulation.h" @@ -29,21 +27,13 @@ /* set parameters required by levmarq() to default values */ void levmarq_init(LMstat *lmstat) { - lmstat->max_it = 500; + lmstat->max_it = 100; lmstat->init_lambda = 0.0001f; lmstat->up_factor = 10.0f; lmstat->down_factor = 10.0f; lmstat->target_derr = 1e-12f; } -#ifndef SIMULATION -float sqrtf(float arg) { - float out=NAN; - arm_sqrt_f32(arg, &out); - return out; -} -#endif - /* perform least-squares minimization using the Levenberg-Marquardt algorithm. The arguments are as follows: |