0x004BF6DF For yaw of 7 bits
| 699 | |
| 700 | // 0x004BF6DF For yaw of 7 bits |
| 701 | uint8_t calculateYaw4FromVector(int16_t xDiff, int16_t yDiff) |
| 702 | { |
| 703 | uint32_t i = 0; |
| 704 | |
| 705 | if (xDiff < 0) |
| 706 | { |
| 707 | i += 17; |
| 708 | xDiff = -xDiff; |
| 709 | } |
| 710 | |
| 711 | if (yDiff < 0) |
| 712 | { |
| 713 | i += 34; |
| 714 | yDiff = -yDiff; |
| 715 | } |
| 716 | |
| 717 | uint32_t xy = std::numeric_limits<uint32_t>::max(); |
| 718 | if (yDiff != 0) |
| 719 | { |
| 720 | xy = (static_cast<uint64_t>(xDiff) << 16) / yDiff; |
| 721 | } |
| 722 | |
| 723 | if (xy >= 72308) |
| 724 | { |
| 725 | if (xy >= 183161) |
| 726 | { |
| 727 | if (xy >= 441808) |
| 728 | { |
| 729 | i += 15; |
| 730 | if (xy >= 1334016) |
| 731 | { |
| 732 | i++; |
| 733 | } |
| 734 | } |
| 735 | else |
| 736 | { |
| 737 | i += 13; |
| 738 | if (xy >= 261634) |
| 739 | { |
| 740 | i++; |
| 741 | } |
| 742 | } |
| 743 | } |
| 744 | else |
| 745 | { |
| 746 | if (xy >= 109340) |
| 747 | { |
| 748 | i += 11; |
| 749 | if (xy >= 138564) |
| 750 | { |
| 751 | i++; |
| 752 | } |
| 753 | } |
| 754 | else |
| 755 | { |
| 756 | i += 9; |
| 757 | if (xy >= 88365) |
| 758 | { |
no outgoing calls
no test coverage detected