Fix pedantic warnings

Author: jbangelo

swiftnav/src/coords/ecef.rs

@@ -50,10 +50,10 @@ impl ECEF {
         let p = (self.x() * self.x() + self.y() * self.y()).sqrt();
 
         // Compute longitude first, this can be done exactly.
-        let longitude = if p != 0.0 {
-            self.y().atan2(self.x())
-        } else {
+        let longitude = if p == 0.0 {
             0.0
+        } else {
+            self.y().atan2(self.x())
         };
 
         // If we are close to the pole then convergence is very slow, treat this is a
@@ -171,7 +171,7 @@ impl ECEF {
     /// Rotate this ECEF vector into NED coordinates, at a given
     /// reference point. This is approporiate for converting velocity vectors.
     ///
-    /// This is the inverse of [NED::ecef_vector_at].
+    /// This is the inverse of [`NED::ecef_vector_at`].
     #[must_use]
     pub fn ned_vector_at(&self, point: &ECEF) -> NED {
         let m = math::ecef2ned_matrix(point.to_llh());

swiftnav/src/coords/llh.rs

@@ -128,6 +128,7 @@ impl LLHRadians {
     ///
     /// Uses the [`WGS84`] Ellipsoid
     #[must_use]
+    #[allow(clippy::many_single_char_names)] // It's math, whatyagonnado?
     pub fn to_ecef(&self) -> ECEF {
         let d = WGS84::E * (self.latitude()).sin();
         let n = WGS84::A / (1. - d * d).sqrt();

swiftnav/src/coords/mod.rs

@@ -10,10 +10,10 @@
 //! Coordinates and conversions
 //!
 //! These four coordinates types are defined:
-//!  * [LLHDegrees]/[LLHRadians] - Geodetic coordinates, Latitude Lontitude Height
+//!  * [`LLHDegrees`]/[`LLHRadians`] - Geodetic coordinates, Latitude Lontitude Height
 //!  * [ECEF] - Cartesian coordinates, Earth Centered, Earth Fixed
 //!  * [NED] - Local direction coordinates, North East Down
-//!  * [AzimuthElevation] - Relative direction coordinates, Azimith Elevation
+//!  * [`AzimuthElevation`] - Relative direction coordinates, Azimith Elevation
 //!
 //! # Geodetic to Cartesian
 //!
@@ -242,6 +242,11 @@ impl Coordinate {
     }
 
     /// Transform the coordinate from into a new reference frame
+    ///
+    /// # Errors
+    ///
+    /// An error is returned if a transformation from the coordinate's reference frame to the requested
+    /// reference frame could not be found.
     pub fn transform_to(&self, new_frame: ReferenceFrame) -> Result<Self, TransformationNotFound> {
         get_transformation(self.reference_frame, new_frame)
             .map(|transformation| transformation.transform(self))

swiftnav/src/coords/ned.rs

@@ -42,7 +42,7 @@ impl NED {
     /// Rotate a local [`NED`] vector into a [`ECEF`] vector, at a given
     /// reference point. This is approporiate for converting velocity vectors.
     ///
-    /// This is the inverse of [ECEF::ned_vector_at].
+    /// This is the inverse of [`ECEF::ned_vector_at`].
     #[must_use]
     pub fn ecef_vector_at(&self, ref_ecef: &ECEF) -> ECEF {
         let m = math::ecef2ned_matrix(ref_ecef.to_llh());

swiftnav/src/edc.rs

@@ -41,35 +41,262 @@
 //! ```
 
 const CRC24Q_TABLE: [u32; 256] = [
-    0x000000, 0x864CFB, 0x8AD50D, 0x0C99F6, 0x93E6E1, 0x15AA1A, 0x1933EC, 0x9F7F17, 0xA18139,
-    0x27CDC2, 0x2B5434, 0xAD18CF, 0x3267D8, 0xB42B23, 0xB8B2D5, 0x3EFE2E, 0xC54E89, 0x430272,
-    0x4F9B84, 0xC9D77F, 0x56A868, 0xD0E493, 0xDC7D65, 0x5A319E, 0x64CFB0, 0xE2834B, 0xEE1ABD,
-    0x685646, 0xF72951, 0x7165AA, 0x7DFC5C, 0xFBB0A7, 0x0CD1E9, 0x8A9D12, 0x8604E4, 0x00481F,
-    0x9F3708, 0x197BF3, 0x15E205, 0x93AEFE, 0xAD50D0, 0x2B1C2B, 0x2785DD, 0xA1C926, 0x3EB631,
-    0xB8FACA, 0xB4633C, 0x322FC7, 0xC99F60, 0x4FD39B, 0x434A6D, 0xC50696, 0x5A7981, 0xDC357A,
-    0xD0AC8C, 0x56E077, 0x681E59, 0xEE52A2, 0xE2CB54, 0x6487AF, 0xFBF8B8, 0x7DB443, 0x712DB5,
-    0xF7614E, 0x19A3D2, 0x9FEF29, 0x9376DF, 0x153A24, 0x8A4533, 0x0C09C8, 0x00903E, 0x86DCC5,
-    0xB822EB, 0x3E6E10, 0x32F7E6, 0xB4BB1D, 0x2BC40A, 0xAD88F1, 0xA11107, 0x275DFC, 0xDCED5B,
-    0x5AA1A0, 0x563856, 0xD074AD, 0x4F0BBA, 0xC94741, 0xC5DEB7, 0x43924C, 0x7D6C62, 0xFB2099,
-    0xF7B96F, 0x71F594, 0xEE8A83, 0x68C678, 0x645F8E, 0xE21375, 0x15723B, 0x933EC0, 0x9FA736,
-    0x19EBCD, 0x8694DA, 0x00D821, 0x0C41D7, 0x8A0D2C, 0xB4F302, 0x32BFF9, 0x3E260F, 0xB86AF4,
-    0x2715E3, 0xA15918, 0xADC0EE, 0x2B8C15, 0xD03CB2, 0x567049, 0x5AE9BF, 0xDCA544, 0x43DA53,
-    0xC596A8, 0xC90F5E, 0x4F43A5, 0x71BD8B, 0xF7F170, 0xFB6886, 0x7D247D, 0xE25B6A, 0x641791,
-    0x688E67, 0xEEC29C, 0x3347A4, 0xB50B5F, 0xB992A9, 0x3FDE52, 0xA0A145, 0x26EDBE, 0x2A7448,
-    0xAC38B3, 0x92C69D, 0x148A66, 0x181390, 0x9E5F6B, 0x01207C, 0x876C87, 0x8BF571, 0x0DB98A,
-    0xF6092D, 0x7045D6, 0x7CDC20, 0xFA90DB, 0x65EFCC, 0xE3A337, 0xEF3AC1, 0x69763A, 0x578814,
-    0xD1C4EF, 0xDD5D19, 0x5B11E2, 0xC46EF5, 0x42220E, 0x4EBBF8, 0xC8F703, 0x3F964D, 0xB9DAB6,
-    0xB54340, 0x330FBB, 0xAC70AC, 0x2A3C57, 0x26A5A1, 0xA0E95A, 0x9E1774, 0x185B8F, 0x14C279,
-    0x928E82, 0x0DF195, 0x8BBD6E, 0x872498, 0x016863, 0xFAD8C4, 0x7C943F, 0x700DC9, 0xF64132,
-    0x693E25, 0xEF72DE, 0xE3EB28, 0x65A7D3, 0x5B59FD, 0xDD1506, 0xD18CF0, 0x57C00B, 0xC8BF1C,
-    0x4EF3E7, 0x426A11, 0xC426EA, 0x2AE476, 0xACA88D, 0xA0317B, 0x267D80, 0xB90297, 0x3F4E6C,
-    0x33D79A, 0xB59B61, 0x8B654F, 0x0D29B4, 0x01B042, 0x87FCB9, 0x1883AE, 0x9ECF55, 0x9256A3,
-    0x141A58, 0xEFAAFF, 0x69E604, 0x657FF2, 0xE33309, 0x7C4C1E, 0xFA00E5, 0xF69913, 0x70D5E8,
-    0x4E2BC6, 0xC8673D, 0xC4FECB, 0x42B230, 0xDDCD27, 0x5B81DC, 0x57182A, 0xD154D1, 0x26359F,
-    0xA07964, 0xACE092, 0x2AAC69, 0xB5D37E, 0x339F85, 0x3F0673, 0xB94A88, 0x87B4A6, 0x01F85D,
-    0x0D61AB, 0x8B2D50, 0x145247, 0x921EBC, 0x9E874A, 0x18CBB1, 0xE37B16, 0x6537ED, 0x69AE1B,
-    0xEFE2E0, 0x709DF7, 0xF6D10C, 0xFA48FA, 0x7C0401, 0x42FA2F, 0xC4B6D4, 0xC82F22, 0x4E63D9,
-    0xD11CCE, 0x575035, 0x5BC9C3, 0xDD8538,
+    0x0000_0000,
+    0x0086_4CFB,
+    0x008A_D50D,
+    0x000C_99F6,
+    0x0093_E6E1,
+    0x0015_AA1A,
+    0x0019_33EC,
+    0x009F_7F17,
+    0x00A1_8139,
+    0x0027_CDC2,
+    0x002B_5434,
+    0x00AD_18CF,
+    0x0032_67D8,
+    0x00B4_2B23,
+    0x00B8_B2D5,
+    0x003E_FE2E,
+    0x00C5_4E89,
+    0x0043_0272,
+    0x004F_9B84,
+    0x00C9_D77F,
+    0x0056_A868,
+    0x00D0_E493,
+    0x00DC_7D65,
+    0x005A_319E,
+    0x0064_CFB0,
+    0x00E2_834B,
+    0x00EE_1ABD,
+    0x0068_5646,
+    0x00F7_2951,
+    0x0071_65AA,
+    0x007D_FC5C,
+    0x00FB_B0A7,
+    0x000C_D1E9,
+    0x008A_9D12,
+    0x0086_04E4,
+    0x0000_481F,
+    0x009F_3708,
+    0x0019_7BF3,
+    0x0015_E205,
+    0x0093_AEFE,
+    0x00AD_50D0,
+    0x002B_1C2B,
+    0x0027_85DD,
+    0x00A1_C926,
+    0x003E_B631,
+    0x00B8_FACA,
+    0x00B4_633C,
+    0x0032_2FC7,
+    0x00C9_9F60,
+    0x004F_D39B,
+    0x0043_4A6D,
+    0x00C5_0696,
+    0x005A_7981,
+    0x00DC_357A,
+    0x00D0_AC8C,
+    0x0056_E077,
+    0x0068_1E59,
+    0x00EE_52A2,
+    0x00E2_CB54,
+    0x0064_87AF,
+    0x00FB_F8B8,
+    0x007D_B443,
+    0x0071_2DB5,
+    0x00F7_614E,
+    0x0019_A3D2,
+    0x009F_EF29,
+    0x0093_76DF,
+    0x0015_3A24,
+    0x008A_4533,
+    0x000C_09C8,
+    0x0000_903E,
+    0x0086_DCC5,
+    0x00B8_22EB,
+    0x003E_6E10,
+    0x0032_F7E6,
+    0x00B4_BB1D,
+    0x002B_C40A,
+    0x00AD_88F1,
+    0x00A1_1107,
+    0x0027_5DFC,
+    0x00DC_ED5B,
+    0x005A_A1A0,
+    0x0056_3856,
+    0x00D0_74AD,
+    0x004F_0BBA,
+    0x00C9_4741,
+    0x00C5_DEB7,
+    0x0043_924C,
+    0x007D_6C62,
+    0x00FB_2099,
+    0x00F7_B96F,
+    0x0071_F594,
+    0x00EE_8A83,
+    0x0068_C678,
+    0x0064_5F8E,
+    0x00E2_1375,
+    0x0015_723B,
+    0x0093_3EC0,
+    0x009F_A736,
+    0x0019_EBCD,
+    0x0086_94DA,
+    0x0000_D821,
+    0x000C_41D7,
+    0x008A_0D2C,
+    0x00B4_F302,
+    0x0032_BFF9,
+    0x003E_260F,
+    0x00B8_6AF4,
+    0x0027_15E3,
+    0x00A1_5918,
+    0x00AD_C0EE,
+    0x002B_8C15,
+    0x00D0_3CB2,
+    0x0056_7049,
+    0x005A_E9BF,
+    0x00DC_A544,
+    0x0043_DA53,
+    0x00C5_96A8,
+    0x00C9_0F5E,
+    0x004F_43A5,
+    0x0071_BD8B,
+    0x00F7_F170,
+    0x00FB_6886,
+    0x007D_247D,
+    0x00E2_5B6A,
+    0x0064_1791,
+    0x0068_8E67,
+    0x00EE_C29C,
+    0x0033_47A4,
+    0x00B5_0B5F,
+    0x00B9_92A9,
+    0x003F_DE52,
+    0x00A0_A145,
+    0x0026_EDBE,
+    0x002A_7448,
+    0x00AC_38B3,
+    0x0092_C69D,
+    0x0014_8A66,
+    0x0018_1390,
+    0x009E_5F6B,
+    0x0001_207C,
+    0x0087_6C87,
+    0x008B_F571,
+    0x000D_B98A,
+    0x00F6_092D,
+    0x0070_45D6,
+    0x007C_DC20,
+    0x00FA_90DB,
+    0x0065_EFCC,
+    0x00E3_A337,
+    0x00EF_3AC1,
+    0x0069_763A,
+    0x0057_8814,
+    0x00D1_C4EF,
+    0x00DD_5D19,
+    0x005B_11E2,
+    0x00C4_6EF5,
+    0x0042_220E,
+    0x004E_BBF8,
+    0x00C8_F703,
+    0x003F_964D,
+    0x00B9_DAB6,
+    0x00B5_4340,
+    0x0033_0FBB,
+    0x00AC_70AC,
+    0x002A_3C57,
+    0x0026_A5A1,
+    0x00A0_E95A,
+    0x009E_1774,
+    0x0018_5B8F,
+    0x0014_C279,
+    0x0092_8E82,
+    0x000D_F195,
+    0x008B_BD6E,
+    0x0087_2498,
+    0x0001_6863,
+    0x00FA_D8C4,
+    0x007C_943F,
+    0x0070_0DC9,
+    0x00F6_4132,
+    0x0069_3E25,
+    0x00EF_72DE,
+    0x00E3_EB28,
+    0x0065_A7D3,
+    0x005B_59FD,
+    0x00DD_1506,
+    0x00D1_8CF0,
+    0x0057_C00B,
+    0x00C8_BF1C,
+    0x004E_F3E7,
+    0x0042_6A11,
+    0x00C4_26EA,
+    0x002A_E476,
+    0x00AC_A88D,
+    0x00A0_317B,
+    0x0026_7D80,
+    0x00B9_0297,
+    0x003F_4E6C,
+    0x0033_D79A,
+    0x00B5_9B61,
+    0x008B_654F,
+    0x000D_29B4,
+    0x0001_B042,
+    0x0087_FCB9,
+    0x0018_83AE,
+    0x009E_CF55,
+    0x0092_56A3,
+    0x0014_1A58,
+    0x00EF_AAFF,
+    0x0069_E604,
+    0x0065_7FF2,
+    0x00E3_3309,
+    0x007C_4C1E,
+    0x00FA_00E5,
+    0x00F6_9913,
+    0x0070_D5E8,
+    0x004E_2BC6,
+    0x00C8_673D,
+    0x00C4_FECB,
+    0x0042_B230,
+    0x00DD_CD27,
+    0x005B_81DC,
+    0x0057_182A,
+    0x00D1_54D1,
+    0x0026_359F,
+    0x00A0_7964,
+    0x00AC_E092,
+    0x002A_AC69,
+    0x00B5_D37E,
+    0x0033_9F85,
+    0x003F_0673,
+    0x00B9_4A88,
+    0x0087_B4A6,
+    0x0001_F85D,
+    0x000D_61AB,
+    0x008B_2D50,
+    0x0014_5247,
+    0x0092_1EBC,
+    0x009E_874A,
+    0x0018_CBB1,
+    0x00E3_7B16,
+    0x0065_37ED,
+    0x0069_AE1B,
+    0x00EF_E2E0,
+    0x0070_9DF7,
+    0x00F6_D10C,
+    0x00FA_48FA,
+    0x007C_0401,
+    0x0042_FA2F,
+    0x00C4_B6D4,
+    0x00C8_2F22,
+    0x004E_63D9,
+    0x00D1_1CCE,
+    0x0057_5035,
+    0x005B_C9C3,
+    0x00DD_8538,
 ];
 
 /// Calculate Qualcomm 24-bit Cyclical Redundancy Check (CRC-24Q).
@@ -89,10 +316,10 @@ const CRC24Q_TABLE: [u32; 256] = [
 /// Only the lower 24 bits of the initial value are used!
 #[must_use]
 pub fn compute_crc24q(buf: &[u8], initial_value: u32) -> u32 {
-    let mut crc = initial_value & 0xFFFFFF;
+    let mut crc = initial_value & 0x00FF_FFFF;
     for &byte in buf {
-        let index = ((crc >> 16) ^ byte as u32) as usize & 0xFF;
-        crc = ((crc << 8) & 0xFFFFFF) ^ CRC24Q_TABLE[index];
+        let index = ((crc >> 16) ^ u32::from(byte)) as usize & 0xFF;
+        crc = ((crc << 8) & 0x00FF_FFFF) ^ CRC24Q_TABLE[index];
     }
     crc
 }

swiftnav/src/math.rs

@@ -35,20 +35,20 @@ pub(crate) const fn compile_time_max_u16(a: u16, b: u16) -> u16 {
 ///
 /// - This function is marked as `const`, allowing it to be evaluated at compile time.
 /// - The algorithm iteratively refines the approximation of the square root until the result stabilizes.
+#[allow(clippy::many_single_char_names)] // This is pure math, single character names are used in the source material
 pub(crate) const fn compile_time_sqrt(s: f64) -> f64 {
     let mut x = s;
     let mut y = 0.0;
     let mut z;
     let mut i = 0;
+    #[allow(clippy::float_cmp)] // We intentionally iterate until the values stop changing
     while y != x {
         y = x;
         z = s / y;
-        x = (y + z) / 2.0;
+        x = f64::midpoint(y, z);
         i += 1;
     }
-    if i > 100 {
-        panic!("SLOW_SQRT failed to converge");
-    }
+    assert!((i <= 100), "SLOW_SQRT failed to converge");
     x
 }