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AC_WPNav: Compiler warnings: nuke fast_atan2()

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per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM

ccd578664f (commitcomment-11025083)
This commit is contained in:
Tom Pittenger 2015-05-04 15:42:05 -07:00 committed by Andrew Tridgell
parent 4ec2fb3a9c
commit 7fd285f483
2 changed files with 3 additions and 3 deletions
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2
libraries/AC_WPNav/AC_Circle.cpp
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@ -247,7 +247,7 @@ void AC_Circle::init_start_angle(bool use_heading)
_angle = wrap_PI(_ahrs.yaw-PI); _angle = wrap_PI(_ahrs.yaw-PI);
} else { } else {
// get bearing from circle center to vehicle in radians // get bearing from circle center to vehicle in radians
float bearing_rad = fast_atan2(curr_pos.y-_center.y,curr_pos.x-_center.x); float bearing_rad = atan2f(curr_pos.y-_center.y,curr_pos.x-_center.x);
_angle = wrap_PI(bearing_rad); _angle = wrap_PI(bearing_rad);
} }
} }

4
libraries/AC_WPNav/AC_WPNav.cpp
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@ -962,7 +962,7 @@ void AC_WPNav::advance_spline_target_along_track(float dt)
_pos_control.set_pos_target(target_pos); _pos_control.set_pos_target(target_pos);
// update the yaw // update the yaw
_yaw = RadiansToCentiDegrees(fast_atan2(target_vel.y,target_vel.x)); _yaw = RadiansToCentiDegrees(atan2f(target_vel.y,target_vel.x));
// advance spline time to next step // advance spline time to next step
_spline_time += _spline_time_scale*dt; _spline_time += _spline_time_scale*dt;
@ -1001,7 +1001,7 @@ void AC_WPNav::calc_spline_pos_vel(float spline_time, Vector3f& position, Vector
// To-Do: move this to math library // To-Do: move this to math library
float AC_WPNav::get_bearing_cd(const Vector3f &origin, const Vector3f &destination) const float AC_WPNav::get_bearing_cd(const Vector3f &origin, const Vector3f &destination) const
{ {
float bearing = 9000 + fast_atan2(-(destination.x-origin.x), destination.y-origin.y) * 5729.57795f; float bearing = 9000 + atan2f(-(destination.x-origin.x), destination.y-origin.y) * 5729.57795f;
if (bearing < 0) { if (bearing < 0) {
bearing += 36000; bearing += 36000;
} }