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Fix use of floating point math functions

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This commit is contained in:
Mathias Rasmussen 2021-12-03 03:58:19 +01:00
parent 4c034d67ee
commit 87c259a26e
9 changed files with 20 additions and 19 deletions
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2
lib/main/MAVLink/mavlink_conversions.h
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@ -68,7 +68,7 @@ MAVLINK_HELPER void mavlink_quaternion_to_dcm(const float quaternion[4], float d
MAVLINK_HELPER void mavlink_dcm_to_euler(const float dcm[3][3], float* roll, float* pitch, float* yaw)
{
float phi, theta, psi;
theta = asin(-dcm[2][0]);
theta = asinf(-dcm[2][0]);
if (fabsf(theta - (float)M_PI_2) < 1.0e-3f) {
phi = 0.0f;