FlightTasks: remove unnecessary double precision floating point math

PX4 · Oct 17, 2019 · e942d3a · e942d3a
1 parent 25aded3
commit e942d3a
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp b/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp
@@ -72,7 +72,7 @@ void FlightTaskAutoLine::_setSpeedAtTarget()
 
 	if (Vector2f(&(_target - _next_wp)(0)).length() > 0.001f &&
 	    (Vector2f(&(_target - _prev_wp)(0)).length() > _target_acceptance_radius)) {
-		// angle = cos(x) + 1.0
+		// angle = cosf(x) + 1.0f
 		angle =
 			Vector2f(&(_target - _prev_wp)(0)).unit_or_zero()
 			* Vector2f(&(_target - _next_wp)(0)).unit_or_zero()

diff --git a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
@@ -202,8 +202,8 @@ float FlightTaskAutoLineSmoothVel::_getSpeedAtTarget()
 	    yaw_align_check_pass) {
 		// Max speed between current and next
 		const float max_speed_current_next = _getMaxSpeedFromDistance(distance_current_next);
-		const float alpha = acos(Vector2f(&(_target - _prev_wp)(0)).unit_or_zero() *
-					 Vector2f(&(_target - _next_wp)(0)).unit_or_zero());
+		const float alpha = acosf(Vector2f(&(_target - _prev_wp)(0)).unit_or_zero() *
+					  Vector2f(&(_target - _next_wp)(0)).unit_or_zero());
 		// We choose a maximum centripetal acceleration of MPC_ACC_HOR * MPC_XY_TRAJ_P to take in account
 		// that there is a jerk limit (a direct transition from line to circle is not possible)
 		// MPC_XY_TRAJ_P should be between 0 and 1.