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AP_Math: fix uses of single precision

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This commit is contained in:
Andrew Tridgell 2021-07-22 15:54:45 +10:00
parent b375fe291f
commit 36174d198f
3 changed files with 6 additions and 6 deletions
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8
libraries/AP_Math/matrix3.cpp
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@ -52,10 +52,10 @@ void Matrix3<T>::to_euler(T *roll, T *pitch, T *yaw) const
*pitch = -safe_asin(c.x); *pitch = -safe_asin(c.x);
} }
if (roll != nullptr) { if (roll != nullptr) {
*roll = atan2f(c.y, c.z); *roll = atan2F(c.y, c.z);
} }
if (yaw != nullptr) { if (yaw != nullptr) {
*yaw = atan2f(b.x, a.x); *yaw = atan2F(b.x, a.x);
} }
} }
@ -81,8 +81,8 @@ template <typename T>
Vector3<T> Matrix3<T>::to_euler312() const Vector3<T> Matrix3<T>::to_euler312() const
{ {
return Vector3<T>(asinF(c.y), return Vector3<T>(asinF(c.y),
atan2f(-c.x, c.z), atan2F(-c.x, c.z),
atan2f(-a.y, b.y)); atan2F(-a.y, b.y));
} }
/* /*

2
libraries/AP_Math/vector2.cpp
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@ -161,7 +161,7 @@ T Vector2<T>::angle(const Vector2<T> &v2) const
template <typename T> template <typename T>
T Vector2<T>::angle(void) const T Vector2<T>::angle(void) const
{ {
return M_PI_2 + atan2f(-x, y); return M_PI_2 + atan2F(-x, y);
} }
// find the intersection between two line segments // find the intersection between two line segments

2
libraries/AP_Math/vector3.cpp
View File

@ -418,7 +418,7 @@ T Vector3<T>::angle(const Vector3<T> &v2) const
return 0.0f; return 0.0f;
} }
const T cosv = ((*this)*v2) / len; const T cosv = ((*this)*v2) / len;
if (fabsf(cosv) >= 1) { if (fabsF(cosv) >= 1) {
return 0.0f; return 0.0f;
} }
return acosF(cosv); return acosF(cosv);