From 039229248952a680199d0e0f5e99df1cb54b69db Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 28 Apr 2015 15:06:13 +0900
Subject: [PATCH] AP_Math: inline is_equal, add is_zero

---
 libraries/AP_Math/AP_Math.cpp | 6 ------
 libraries/AP_Math/AP_Math.h   | 8 ++++++--
 2 files changed, 6 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_Math/AP_Math.cpp b/libraries/AP_Math/AP_Math.cpp
index f355c5a28a..c7c90f9c44 100644
--- a/libraries/AP_Math/AP_Math.cpp
+++ b/libraries/AP_Math/AP_Math.cpp
@@ -1,12 +1,6 @@
 #include "AP_Math.h"
 #include <float.h>
 
-// are two floats equal
-bool is_equal(const float &fVal1, const float &fVal2)
-{
-  return fabs(fVal1 - fVal2) < FLT_EPSILON ? true : false;
-}
-
 // a varient of asin() that checks the input ranges and ensures a
 // valid angle as output. If nan is given as input then zero is
 // returned.
diff --git a/libraries/AP_Math/AP_Math.h b/libraries/AP_Math/AP_Math.h
index 763d5398a8..0eadd9a34e 100644
--- a/libraries/AP_Math/AP_Math.h
+++ b/libraries/AP_Math/AP_Math.h
@@ -19,12 +19,13 @@
 #include "quaternion.h"
 #include "polygon.h"
 #include "edc.h"
+#include "float.h"
 
 #ifndef M_PI_F
  #define M_PI_F 3.141592653589793f
 #endif
 #ifndef M_2PI_F
- #define M_2PI_F 2*M_PI_F
+ #define M_2PI_F (2*M_PI_F)
 #endif
 #ifndef PI
  # define PI M_PI_F
@@ -75,7 +76,10 @@ AP_PARAMDEFV(Matrix3f, Matrix3f, AP_PARAM_MATRIX3F);
 AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F);
 
 // are two floats equal
-bool            is_equal(const float &fVal1, const float &fVal2);
+inline bool     is_equal(const float fVal1, const float fVal2) { return fabsf(fVal1 - fVal2) < FLT_EPSILON ? true : false; }
+
+// are two floats equal
+inline bool     is_zero(const float fVal1) { return fabsf(fVal1) < FLT_EPSILON ? true : false; }
 
 // a varient of asin() that always gives a valid answer.
 float           safe_asin(float v);