From fffad183242db08fbd5c6a2c8a05a152ef0dc82a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 16 Nov 2022 22:21:45 +1100
Subject: [PATCH] AP_Math: remove normalization of random compass Vector3f

---
 libraries/AP_Math/AP_Math.cpp | 7 ++-----
 libraries/AP_Math/AP_Math.h   | 2 +-
 2 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_Math/AP_Math.cpp b/libraries/AP_Math/AP_Math.cpp
index 8f01efb259..b646f6753c 100644
--- a/libraries/AP_Math/AP_Math.cpp
+++ b/libraries/AP_Math/AP_Math.cpp
@@ -348,17 +348,14 @@ float rand_float(void)
 #endif
 }
 
+// generate a random Vector3f with each value between -1.0 and 1.0
 Vector3f rand_vec3f(void)
 {
-    Vector3f v {
+    return Vector3f{
         rand_float(),
         rand_float(),
         rand_float()
     };
-    if (!v.is_zero()) {
-        v.normalize();
-    }
-    return v;
 }
 #endif
 
diff --git a/libraries/AP_Math/AP_Math.h b/libraries/AP_Math/AP_Math.h
index 0abeac0157..59c5836b11 100644
--- a/libraries/AP_Math/AP_Math.h
+++ b/libraries/AP_Math/AP_Math.h
@@ -325,7 +325,7 @@ uint16_t get_random16(void);
 // generate a random float between -1 and 1, for use in SITL
 float rand_float(void);
 
-// generate a random Vector3f of size 1
+// generate a random Vector3f with each value between -1.0 and 1.0
 Vector3f rand_vec3f(void);
 
 // return true if two rotations are equal