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Sub: use vector.xy().length() instead of norm(x,y)

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Josh Henderson 2021-09-11 06:27:19 -04:00 committed by Andrew Tridgell
parent 1da21c3b21
commit d6d9577f27
1 changed files with 1 additions and 1 deletions
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2
ArduSub/Attitude.cpp
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@ -73,7 +73,7 @@ float Sub::get_roi_yaw()
float Sub::get_look_ahead_yaw() float Sub::get_look_ahead_yaw()
{ {
const Vector3f& vel = inertial_nav.get_velocity(); const Vector3f& vel = inertial_nav.get_velocity();
float speed = norm(vel.x,vel.y); const float speed = vel.xy().length();
// Commanded Yaw to automatically look ahead. // Commanded Yaw to automatically look ahead.
if (position_ok() && (speed > YAW_LOOK_AHEAD_MIN_SPEED)) { if (position_ok() && (speed > YAW_LOOK_AHEAD_MIN_SPEED)) {
yaw_look_ahead_bearing = degrees(atan2f(vel.y,vel.x))*100.0f; yaw_look_ahead_bearing = degrees(atan2f(vel.y,vel.x))*100.0f;