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EKF3: correct acos to acosf

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Pierre Kancir 2018-02-12 12:29:10 +01:00 committed by Randy Mackay
parent 48c5a9b9c5
commit 44a21bc8ac
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -1630,7 +1630,7 @@ Vector3f NavEKF3_core::calcRotVecVariances()
q3 = -q3; q3 = -q3;
} }
float t2 = q0*q0; float t2 = q0*q0;
float t3 = acos(q0); float t3 = acosf(q0);
float t4 = -t2+1.0f; float t4 = -t2+1.0f;
float t5 = t2-1.0f; float t5 = t2-1.0f;
if ((t4 > 1e-9f) && (t5 < -1e-9f)) { if ((t4 > 1e-9f) && (t5 < -1e-9f)) {