From cf3e49eea204082a88dffaba8c6b10efd094114c Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Thu, 11 Oct 2012 17:54:42 +0900
Subject: [PATCH] ArduCopter: changed sin_pitch and sin_roll to faster
 equivalents

---
 ArduCopter/ArduCopter.pde | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index e73e1f05f0..f05b9ab7e9 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -2165,8 +2165,8 @@ static void update_trig(void){
     cos_yaw_x               = yawvector.y;                                              // 0x = north
 
     // added to convert earth frame to body frame for rate controllers
-    sin_roll = sin(ahrs.roll);
-    sin_pitch = sin(ahrs.pitch);
+    sin_pitch = -temp.c.x;
+    sin_roll = temp.c.y / cos_pitch_x;
 
     //flat:
     // 0 ° = cos_yaw:  0.00, sin_yaw:  1.00,