diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde index 6a98e7e002..8d44203c18 100644 --- a/ArduPlane/Attitude.pde +++ b/ArduPlane/Attitude.pde @@ -286,7 +286,7 @@ static void stabilize_acro(float speed_scaler) /* check for special roll handling near the pitch poles */ - if (g.acro_locking && AP_Math::is_zero(roll_rate)) { + if (g.acro_locking && is_zero(roll_rate)) { /* we have no roll stick input, so we will enter "roll locked" mode, and hold the roll we had when the stick was released @@ -313,7 +313,7 @@ static void stabilize_acro(float speed_scaler) channel_roll->servo_out = rollController.get_rate_out(roll_rate, speed_scaler); } - if (g.acro_locking && AP_Math::is_zero(pitch_rate)) { + if (g.acro_locking && is_zero(pitch_rate)) { /* user has zero pitch stick input, so we lock pitch at the point they release the stick @@ -459,7 +459,7 @@ static void calc_nav_yaw_ground(void) if (flight_stage == AP_SpdHgtControl::FLIGHT_TAKEOFF) { steer_rate = 0; } - if (!AP_Math::is_zero(steer_rate)) { + if (!is_zero(steer_rate)) { // pilot is giving rudder input steer_state.locked_course = false; } else if (!steer_state.locked_course) { diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde index cfc4778682..49d2604673 100644 --- a/ArduPlane/GCS_Mavlink.pde +++ b/ArduPlane/GCS_Mavlink.pde @@ -1049,7 +1049,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) case MAV_CMD_PREFLIGHT_CALIBRATION: in_calibration = true; - if (AP_Math::is_equal(packet.param1,1.0f)) { + if (is_equal(packet.param1,1.0f)) { ins.init_gyro(); if (ins.gyro_calibrated_ok_all()) { ahrs.reset_gyro_drift(); @@ -1057,16 +1057,16 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) } else { result = MAV_RESULT_FAILED; } - } else if (AP_Math::is_equal(packet.param3,1.0f)) { + } else if (is_equal(packet.param3,1.0f)) { init_barometer(); if (airspeed.enabled()) { zero_airspeed(false); } result = MAV_RESULT_ACCEPTED; - } else if (AP_Math::is_equal(packet.param4,1.0f)) { + } else if (is_equal(packet.param4,1.0f)) { trim_radio(); result = MAV_RESULT_ACCEPTED; - } else if (AP_Math::is_equal(packet.param5,1.0f)) { + } else if (is_equal(packet.param5,1.0f)) { float trim_roll, trim_pitch; AP_InertialSensor_UserInteract_MAVLink interact(this); if (g.skip_gyro_cal) { @@ -1089,12 +1089,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: - if (AP_Math::is_equal(packet.param1,2.0f)) { + if (is_equal(packet.param1,2.0f)) { // save first compass's offsets compass.set_and_save_offsets(0, packet.param2, packet.param3, packet.param4); result = MAV_RESULT_ACCEPTED; } - if (AP_Math::is_equal(packet.param1,5.0f)) { + if (is_equal(packet.param1,5.0f)) { // save secondary compass's offsets compass.set_and_save_offsets(1, packet.param2, packet.param3, packet.param4); result = MAV_RESULT_ACCEPTED; @@ -1102,14 +1102,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; case MAV_CMD_COMPONENT_ARM_DISARM: - if (AP_Math::is_equal(packet.param1,1.0f)) { + if (is_equal(packet.param1,1.0f)) { // run pre_arm_checks and arm_checks and display failures if (arm_motors(AP_Arming::MAVLINK)) { result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } - } else if (AP_Math::is_zero(packet.param1)) { + } else if (is_zero(packet.param1)) { if (disarm_motors()) { result = MAV_RESULT_ACCEPTED; } else { @@ -1170,9 +1170,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: - if (AP_Math::is_equal(packet.param1,1.0f) || AP_Math::is_equal(packet.param1,3.0f)) { + if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) { // when packet.param1 == 3 we reboot to hold in bootloader - hal.scheduler->reboot(AP_Math::is_equal(packet.param1,3.0f)); + hal.scheduler->reboot(is_equal(packet.param1,3.0f)); result = MAV_RESULT_ACCEPTED; } break; @@ -1227,7 +1227,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: { - if (AP_Math::is_equal(packet.param1,1.0f)) { + if (is_equal(packet.param1,1.0f)) { gcs[chan-MAVLINK_COMM_0].send_autopilot_version(); result = MAV_RESULT_ACCEPTED; } @@ -1239,10 +1239,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) // param6 : longitude // param7 : altitude (absolute) result = MAV_RESULT_FAILED; // assume failure - if (AP_Math::is_equal(packet.param1,1.0f)) { + if (is_equal(packet.param1,1.0f)) { init_home(); } else { - if (AP_Math::is_zero(packet.param5) && AP_Math::is_zero(packet.param6) && AP_Math::is_zero(packet.param7)) { + if (is_zero(packet.param5) && is_zero(packet.param6) && is_zero(packet.param7)) { // don't allow the 0,0 position break; } diff --git a/ArduPlane/navigation.pde b/ArduPlane/navigation.pde index e4846c9ace..fb027d8a21 100644 --- a/ArduPlane/navigation.pde +++ b/ArduPlane/navigation.pde @@ -182,7 +182,7 @@ static void update_fbwb_speed_height(void) change_target_altitude(g.flybywire_climb_rate * elevator_input * delta_us_fast_loop * 0.0001f); - if (AP_Math::is_zero(elevator_input) && !AP_Math::is_zero(last_elevator_input)) { + if (is_zero(elevator_input) && !is_zero(last_elevator_input)) { // the user has just released the elevator, lock in // the current altitude set_target_altitude_current(); diff --git a/ArduPlane/takeoff.pde b/ArduPlane/takeoff.pde index aa28a271a8..e5f448bfb7 100644 --- a/ArduPlane/takeoff.pde +++ b/ArduPlane/takeoff.pde @@ -37,7 +37,7 @@ static bool auto_takeoff_check(void) // Check for launch acceleration or timer started. NOTE: relies on TECS 50Hz processing if (!launchTimerStarted && - !AP_Math::is_zero(g.takeoff_throttle_min_accel) && + !is_zero(g.takeoff_throttle_min_accel) && SpdHgt_Controller->get_VXdot() < g.takeoff_throttle_min_accel) { goto no_launch; } @@ -65,7 +65,7 @@ static bool auto_takeoff_check(void) } // Check ground speed and time delay - if (((gps.ground_speed() > g.takeoff_throttle_min_speed || AP_Math::is_zero(g.takeoff_throttle_min_speed))) && + if (((gps.ground_speed() > g.takeoff_throttle_min_speed || is_zero(g.takeoff_throttle_min_speed))) && ((now - last_tkoff_arm_time) >= wait_time_ms)) { gcs_send_text_fmt(PSTR("Triggered AUTO, GPSspd = %.1f"), (double)gps.ground_speed()); launchTimerStarted = false;