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Update version number to 2.3.5 #36

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merged 2 commits into from
Nov 29, 2023
+17 −15
Merged

Update version number to 2.3.5 #36

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09ff9f7
Bump version number to 2.3.5
tyeth Nov 14, 2023
8d4ebb8
Warnings
tyeth Nov 29, 2023
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2 changes: 1 addition & 1 deletion library.properties
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
name=Adafruit AHRS
version=2.3.3
version=2.3.5
author=Adafruit
maintainer=Adafruit <[email protected]>
sentence=AHRS (Altitude and Heading Reference System) for various Adafruit motion sensors
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15 changes: 8 additions & 7 deletions src/Adafruit_AHRS_Madgwick.cpp
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Expand Up @@ -282,13 +282,14 @@ void Adafruit_Madgwick::updateIMU(float gx, float gy, float gz, float ax,

float Adafruit_Madgwick::invSqrt(float x) {
float halfx = 0.5f * x;
float y = x;
long i = *(long *)&y;
i = 0x5f3759df - (i >> 1);
y = *(float *)&i;
y = y * (1.5f - (halfx * y * y));
y = y * (1.5f - (halfx * y * y));
return y;
union {
float f;
long i;
} conv = {x};
conv.i = 0x5f3759df - (conv.i >> 1);
conv.f *= 1.5f - (halfx * conv.f * conv.f);
conv.f *= 1.5f - (halfx * conv.f * conv.f);
return conv.f;
}

//-------------------------------------------------------------------------------------------
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15 changes: 8 additions & 7 deletions src/Adafruit_AHRS_Mahony.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -261,13 +261,14 @@ void Adafruit_Mahony::updateIMU(float gx, float gy, float gz, float ax,

float Adafruit_Mahony::invSqrt(float x) {
float halfx = 0.5f * x;
float y = x;
long i = *(long *)&y;
i = 0x5f3759df - (i >> 1);
y = *(float *)&i;
y = y * (1.5f - (halfx * y * y));
y = y * (1.5f - (halfx * y * y));
return y;
union {
float f;
long i;
} conv = {x};
conv.i = 0x5f3759df - (conv.i >> 1);
conv.f *= 1.5f - (halfx * conv.f * conv.f);
conv.f *= 1.5f - (halfx * conv.f * conv.f);
return conv.f;
}

//-------------------------------------------------------------------------------------------
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