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Copter: use fast_atan2 for bearings to home and next WP

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Randy Mackay 2014-06-06 17:55:02 +09:00
parent 919b0ea29b
commit 083f2898a9
1 changed files with 1 additions and 1 deletions
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ArduCopter/position_vector.pde
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@ -17,7 +17,7 @@ Vector3f pv_location_to_vector(const Location& loc)
// pv_get_bearing_cd - return bearing in centi-degrees between two positions // pv_get_bearing_cd - return bearing in centi-degrees between two positions
float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination) float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination)
{ {
float bearing = 9000 + atan2f(-(destination.x-origin.x), destination.y-origin.y) * DEGX100; float bearing = 9000 + fast_atan2(-(destination.x-origin.x), destination.y-origin.y) * DEGX100;
if (bearing < 0) { if (bearing < 0) {
bearing += 36000; bearing += 36000;
} }