From 4fce6d6132d879494bcd07761447732a3a715c61 Mon Sep 17 00:00:00 2001
From: Naxdy <naxdy@naxdy.org>
Date: Wed, 3 Apr 2024 17:28:05 +0200
Subject: [PATCH] clippy: stick.rs
---
src/stick.rs | 12 +++++-------
1 file changed, 5 insertions(+), 7 deletions(-)
diff --git a/src/stick.rs b/src/stick.rs
index b02028a..ea3cedc 100644
--- a/src/stick.rs
+++ b/src/stick.rs
@@ -19,7 +19,7 @@ pub const NO_OF_CALIBRATION_POINTS: usize = 32;
const MAX_ORDER: usize = 20;
/// 28 degrees; this is the max angular deflection of the stick.
-const MAX_STICK_ANGLE: f32 = 0.4886921906;
+const MAX_STICK_ANGLE: f32 = 0.488_692_2;
#[rustfmt::skip]
// right notch 1 up right notch 2 up notch 3 up left notch 4 left notch 5 down left notch 6 down notch 7 down right notch 8
@@ -263,7 +263,7 @@ impl LinearizedCalibration {
fit_points_x[1] = (in_x[6 + 1] + in_x[10 + 1]) / 2.0f64;
fit_points_x[2] = in_x[0];
fit_points_x[3] = (in_x[2 + 1] + in_x[14 + 1]) / 2.0f64;
- fit_points_x[4] = in_x[0 + 1];
+ fit_points_x[4] = in_x[1];
fit_points_y[0] = in_y[12 + 1];
fit_points_y[1] = (in_y[10 + 1] + in_y[14 + 1]) / 2.0f64;
@@ -282,8 +282,8 @@ impl LinearizedCalibration {
let x_zero_error = linearize(fit_points_x[2] as f32, &fit_coeffs_x.map(|e| e as f32));
let y_zero_error = linearize(fit_points_y[2] as f32, &fit_coeffs_y.map(|e| e as f32));
- fit_coeffs_x[3] = fit_coeffs_x[3] - x_zero_error as f64;
- fit_coeffs_y[3] = fit_coeffs_y[3] - y_zero_error as f64;
+ fit_coeffs_x[3] -= x_zero_error as f64;
+ fit_coeffs_y[3] -= y_zero_error as f64;
let mut linearized_points_x = [0f32; NO_OF_NOTCHES + 1];
let mut linearized_points_y = [0f32; NO_OF_NOTCHES + 1];
@@ -798,9 +798,7 @@ fn trianglize<const N: usize>(matrix: &mut [[f64; N]; N]) -> i32 {
}
if max > 0 {
sign = -sign;
- let tmp = matrix[i];
- matrix[i] = matrix[max];
- matrix[max] = tmp;
+ matrix.swap(i, max);
}
if matrix[i][i] == 0. {
return 0;