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Copter: use M_PI_F instead of (float)M_PI

This commit is contained in:
Andrew Tridgell 2015-05-05 13:44:08 +10:00
parent f9114f849b
commit b88c12ad1f
2 changed files with 3 additions and 3 deletions
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2
ArduCopter/commands_logic.pde
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@ -701,7 +701,7 @@ static bool verify_circle(const AP_Mission::Mission_Command& cmd)
}
// check if we have completed circling
return fabsf(circle_nav.get_angle_total()/(float)(2*M_PI)) >= LOWBYTE(cmd.p1);
return fabsf(circle_nav.get_angle_total()/(2*M_PI_F)) >= LOWBYTE(cmd.p1);
}
// externs to remove compiler warning

4
ArduCopter/control_poshold.pde
View File

@ -641,8 +641,8 @@ static void poshold_get_wind_comp_lean_angles(int16_t &roll_angle, int16_t &pitc
poshold.wind_comp_timer = 0;
// convert earth frame desired accelerations to body frame roll and pitch lean angles
roll_angle = (float)fast_atan((-poshold.wind_comp_ef.x*ahrs.sin_yaw() + poshold.wind_comp_ef.y*ahrs.cos_yaw())/981)*(18000/(float)M_PI);
pitch_angle = (float)fast_atan(-(poshold.wind_comp_ef.x*ahrs.cos_yaw() + poshold.wind_comp_ef.y*ahrs.sin_yaw())/981)*(18000/(float)M_PI);
roll_angle = (float)fast_atan((-poshold.wind_comp_ef.x*ahrs.sin_yaw() + poshold.wind_comp_ef.y*ahrs.cos_yaw())/981)*(18000/M_PI_F);
pitch_angle = (float)fast_atan(-(poshold.wind_comp_ef.x*ahrs.cos_yaw() + poshold.wind_comp_ef.y*ahrs.sin_yaw())/981)*(18000/M_PI_F);
}
// poshold_roll_controller_to_pilot_override - initialises transition from a controller submode (brake or loiter) to a pilot override on roll axis