aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Proximity: use vector.xy().length() instead of norm(x,y)

Browse Source
This commit is contained in:
Josh Henderson 2021-09-11 06:35:38 -04:00 committed by Andrew Tridgell
parent 51023fc846
commit f534a315ea
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Proximity/AP_Proximity_MAV.cpp
View File

@ -259,7 +259,7 @@ void AP_Proximity_MAV::handle_obstacle_distance_3d_msg(const mavlink_message_t &
// extract yaw and pitch from Obstacle Vector
const float yaw = wrap_360(degrees(atan2f(obstacle.y, obstacle.x)));
const float pitch = wrap_180(degrees(M_PI_2 - atan2f(norm(obstacle.x, obstacle.y), obstacle.z)));
const float pitch = wrap_180(degrees(M_PI_2 - atan2f(obstacle.xy().length(), obstacle.z)));
// allot to correct layer and sector based on calculated pitch and yaw
const AP_Proximity_Boundary_3D::Face face = boundary.get_face(pitch, yaw);