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

ArduCopter/autoyaw.cpp

@@ -11,7 +11,7 @@ float Mode::AutoYaw::roi_yaw() const
 float Mode::AutoYaw::look_ahead_yaw()
 {
     const Vector3f& vel = copter.inertial_nav.get_velocity();
-    float speed = norm(vel.x,vel.y);
+    float speed = vel.xy().length();
     // Commanded Yaw to automatically look ahead.
     if (copter.position_ok() && (speed > YAW_LOOK_AHEAD_MIN_SPEED)) {
         _look_ahead_yaw = degrees(atan2f(vel.y,vel.x))*100.0f;

ArduCopter/land_detector.cpp

@@ -177,7 +177,7 @@ void Copter::update_throttle_mix()
 
         // check for aggressive flight requests - requested roll or pitch angle below 15 degrees
         const Vector3f angle_target = attitude_control->get_att_target_euler_cd();
-        bool large_angle_request = (norm(angle_target.x, angle_target.y) > LAND_CHECK_LARGE_ANGLE_CD);
+        bool large_angle_request = angle_target.xy().length() > LAND_CHECK_LARGE_ANGLE_CD;
 
         // check for large external disturbance - angle error over 30 degrees
         const float angle_error = attitude_control->get_att_error_angle_deg();

ArduCopter/mode.cpp

@@ -674,10 +674,10 @@ void Mode::land_run_horizontal_control()
         // there is any position estimate drift after touchdown. We
         // limit attitude to 7 degrees below this limit and linearly
         // interpolate for 1m above that
-        float attitude_limit_cd = linear_interpolate(700, copter.aparm.angle_max, get_alt_above_ground_cm(),
+        const float attitude_limit_cd = linear_interpolate(700, copter.aparm.angle_max, get_alt_above_ground_cm(),
                                                      g2.wp_navalt_min*100U, (g2.wp_navalt_min+1)*100U);
-        float thrust_vector_max = sinf(radians(attitude_limit_cd / 100.0f)) * GRAVITY_MSS * 100.0f;
-        float thrust_vector_mag = norm(thrust_vector.x, thrust_vector.y);
+        const float thrust_vector_max = sinf(radians(attitude_limit_cd / 100.0f)) * GRAVITY_MSS * 100.0f;
+        const float thrust_vector_mag = thrust_vector.xy().length();
         if (thrust_vector_mag > thrust_vector_max) {
             float ratio = thrust_vector_max / thrust_vector_mag;
             thrust_vector.x *= ratio;