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Copter: removed fast_atan

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Andrew Tridgell 2015-05-05 13:57:06 +10:00
parent 8ba5272b0e
commit 189a8fd007
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/control_poshold.pde
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@ -641,8 +641,8 @@ static void poshold_get_wind_comp_lean_angles(int16_t &roll_angle, int16_t &pitc
poshold.wind_comp_timer = 0;
// convert earth frame desired accelerations to body frame roll and pitch lean angles
roll_angle = (float)fast_atan((-poshold.wind_comp_ef.x*ahrs.sin_yaw() + poshold.wind_comp_ef.y*ahrs.cos_yaw())/981)*(18000/M_PI_F);
pitch_angle = (float)fast_atan(-(poshold.wind_comp_ef.x*ahrs.cos_yaw() + poshold.wind_comp_ef.y*ahrs.sin_yaw())/981)*(18000/M_PI_F);
roll_angle = atanf((-poshold.wind_comp_ef.x*ahrs.sin_yaw() + poshold.wind_comp_ef.y*ahrs.cos_yaw())/981)*(18000/M_PI_F);
pitch_angle = atanf(-(poshold.wind_comp_ef.x*ahrs.cos_yaw() + poshold.wind_comp_ef.y*ahrs.sin_yaw())/981)*(18000/M_PI_F);
}
// poshold_roll_controller_to_pilot_override - initialises transition from a controller submode (brake or loiter) to a pilot override on roll axis