From 48610ea0a062ecad5921aca1e4f63d15066ea0e4 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Sat, 3 Nov 2018 15:50:10 -0700
Subject: [PATCH] AP_Math: Remove an unneeded safe_sqrtf, leverage is_zero

---
 libraries/AP_Math/vector2.cpp | 4 ++--
 libraries/AP_Math/vector3.cpp | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Math/vector2.cpp b/libraries/AP_Math/vector2.cpp
index ac52e9bfdc..5106b65002 100644
--- a/libraries/AP_Math/vector2.cpp
+++ b/libraries/AP_Math/vector2.cpp
@@ -191,7 +191,7 @@ bool Vector2<T>::circle_segment_intersection(const Vector2<T>& seg_start, const
     const float delta = sq(b) - (4.0f * a * c);
 
     // check for invalid data
-    if (fabsf(a) < FLT_EPSILON) {
+    if (::is_zero(a)) {
         return false;
     }
     if (isnan(a) || isnan(b) || isnan(c) || isnan(delta)) {
@@ -203,7 +203,7 @@ bool Vector2<T>::circle_segment_intersection(const Vector2<T>& seg_start, const
         return false;
     }
 
-    const float delta_sqrt = safe_sqrt(delta);
+    const float delta_sqrt = sqrtf(delta);
     const float t1 = (-b + delta_sqrt) / (2.0f * a);
     const float t2 = (-b - delta_sqrt) / (2.0f * a);
 
diff --git a/libraries/AP_Math/vector3.cpp b/libraries/AP_Math/vector3.cpp
index d710dc18a8..199886089d 100644
--- a/libraries/AP_Math/vector3.cpp
+++ b/libraries/AP_Math/vector3.cpp
@@ -415,7 +415,7 @@ float Vector3<T>::distance_to_segment(const Vector3<T> &seg_start, const Vector3
     float c = (seg_end-*this).length();
 
     // protect against divide by zero later
-    if (fabsf(b) < FLT_EPSILON) {
+    if (::is_zero(b)) {
         return 0.0f;
     }