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Diffstat (limited to 'controller/fw/levmarq/levmarq.c')
-rw-r--r--controller/fw/levmarq/levmarq.c12
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: