Copter: use new functions

ArduCopter/ArduCopter.pde

@@ -1660,8 +1660,8 @@ void update_roll_pitch_mode(void)
             update_simple_mode();
         }
         // mix in user control with Nav control
-        nav_roll                += constrain(wrap_180(auto_roll  - nav_roll),  -g.auto_slew_rate.get(), g.auto_slew_rate.get());                 // 40 deg a second
+        nav_roll                += constrain_int32(wrap_180(auto_roll  - nav_roll),  -g.auto_slew_rate.get(), g.auto_slew_rate.get());                 // 40 deg a second
-        nav_pitch               += constrain(wrap_180(auto_pitch - nav_pitch), -g.auto_slew_rate.get(), g.auto_slew_rate.get());                 // 40 deg a second
+        nav_pitch               += constrain_int32(wrap_180(auto_pitch - nav_pitch), -g.auto_slew_rate.get(), g.auto_slew_rate.get());                 // 40 deg a second
 
         control_roll            = g.rc_1.control_mix(nav_roll);
         control_pitch           = g.rc_2.control_mix(nav_pitch);

ArduCopter/test.pde

@@ -473,7 +473,7 @@ test_ins(uint8_t argc, const Menu::arg *argv)
         accel = ins.get_accel();
         temp = ins.temperature();
 
-        float test = sqrt(sq(accel.x) + sq(accel.y) + sq(accel.z)) / 9.80665;
+        float test = accel.length() / 9.80665;
 
         cliSerial->printf_P(PSTR("a %7.4f %7.4f %7.4f g %7.4f %7.4f %7.4f t %74f | %7.4f\n"),
             accel.x, accel.y, accel.z,