Diff: Autopilot.cpp

Revision:

16:36d034dec6d6

Parent:

15:28f480b41553

Child:

18:5e2e03a30e1c

--- a/Autopilot.cpp	Mon Dec 06 08:23:54 2021 +0000
+++ b/Autopilot.cpp	Mon Dec 06 08:43:43 2021 +0000
@@ -56,7 +56,7 @@
 {
     float x_dist = destination(0) - pos_ned(0);
     float y_dist = destination(1) - pos_ned(1);
-    yaw_obj = atan2f(y_dist, x_dist);   //rad
+    yaw_obj = std::atan2(y_dist, x_dist);   //rad
     float yaw_diff = atan_angdiff(yaw_obj,yaw);
     roll_obj = p_control(yaw_diff, 0.3f);
 }
@@ -65,7 +65,7 @@
 {
     float x_dist = turn_center(0) - pos_ned(0);
     float y_dist = turn_center(1) - pos_ned(1);
-    float yaw_center = atan2f(y_dist, x_dist);
+    float yaw_center = std::atan2(y_dist, x_dist);
     float yaw_diff = atan_angdiff(yaw_center,yaw);    //旋回中心までの方位角, rad
     float dist = sqrt(x_dist*x_dist + y_dist*y_dist);    //旋回中心までの距離
     //旋回円から遠い場合は旋回中心まで誘導
@@ -165,7 +165,7 @@
 
 float Autopilot::atan_angdiff(float a1,float a2)
 {
-    return atan2f(sinf(a1-a2),cosf(a1-a2));
+    return std::atan2(std::sin(a1-a2),std::cos(a1-a2));
 }
 
 float Autopilot::deg2rad(float deg)
@@ -177,5 +177,5 @@
 {
     float alt_diff = alt - alt_before;
     float xy_diff = sqrt((pos_ned(0) - pos_before(0))*(pos_ned(0) - pos_before(0)) + (pos_ned(1) - pos_before(1))*(pos_ned(1) - pos_before(1)));
-    path_ang = atan2f(alt_diff, xy_diff);
+    path_ang = std::atan2(alt_diff, xy_diff);
 }
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