From 730644eaeb681bd8f812063e2fbff93f47fe6a5a Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 5 May 2015 13:44:25 +1000 Subject: [PATCH] AP_Mount: use M_PI_F instead of (float)M_PI --- libraries/AP_Mount/AP_Mount_Servo.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Mount/AP_Mount_Servo.cpp b/libraries/AP_Mount/AP_Mount_Servo.cpp index 1bcf0bf03b..a07a459eb0 100644 --- a/libraries/AP_Mount/AP_Mount_Servo.cpp +++ b/libraries/AP_Mount/AP_Mount_Servo.cpp @@ -154,7 +154,7 @@ void AP_Mount_Servo::stabilize() // lead filter const Vector3f &gyro = _frontend._ahrs.get_gyro(); - if (_state._stab_roll && !is_zero(_state._roll_stb_lead) && fabsf(_frontend._ahrs.pitch) < (float)M_PI/3.0f) { + if (_state._stab_roll && !is_zero(_state._roll_stb_lead) && fabsf(_frontend._ahrs.pitch) < M_PI_F/3.0f) { // Compute rate of change of euler roll angle float roll_rate = gyro.x + (_frontend._ahrs.sin_pitch() / _frontend._ahrs.cos_pitch()) * (gyro.y * _frontend._ahrs.sin_roll() + gyro.z * _frontend._ahrs.cos_roll()); _angle_bf_output_deg.x -= degrees(roll_rate) * _state._roll_stb_lead;