AP_Landing: fixed use of double precision maths

and rename log() to Log() to prevent name collision with libm function

libraries/AP_Landing/AP_Landing.cpp

@@ -172,7 +172,7 @@ AP_Landing::AP_Landing(AP_Mission &_mission, AP_AHRS &_ahrs, AP_SpdHgtControl *_
 
 void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude)
 {
-    log(); // log old state so we get a nice transition from old to new here
+    Log(); // log old state so we get a nice transition from old to new here
 
     flags.commanded_go_around = false;
 
@@ -188,7 +188,7 @@ void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float rel
         break;
     }
 
-    log();
+    Log();
 }
 
 /*
@@ -216,7 +216,7 @@ bool AP_Landing::verify_land(const Location &prev_WP_loc, Location &next_WP_loc,
         success = true;
         break;
     }
-    log();
+    Log();
     return success;
 }
 
@@ -245,7 +245,7 @@ bool AP_Landing::verify_abort_landing(const Location &prev_WP_loc, Location &nex
          // else we're in AUTO with a stopped mission and handle_auto_mode() will set RTL
      }
 
-     log();
+     Log();
 
      // make sure to always return false so it leaves the mission index alone
      return false;
@@ -447,7 +447,7 @@ bool AP_Landing::restart_landing_sequence()
         update_flight_stage_fn();
     }
 
-    log();
+    Log();
     return success;
 }
 
@@ -547,16 +547,16 @@ bool AP_Landing::request_go_around(void)
         break;
     }
 
-    log();
+    Log();
     return success;
 }
 
 void AP_Landing::handle_flight_stage_change(const bool _in_landing_stage)
 {
-    log(); // log old value to plot discrete transitions
+    Log(); // log old value to plot discrete transitions
     flags.in_progress = _in_landing_stage;
     flags.commanded_go_around = false;
-    log();
+    Log();
 }
 
 /*
@@ -574,14 +574,14 @@ bool AP_Landing::is_complete(void) const
     }
 }
 
-void AP_Landing::log(void) const
+void AP_Landing::Log(void) const
 {
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
         type_slope_log();
         break;
     case TYPE_DEEPSTALL:
-        deepstall.log();
+        deepstall.Log();
         break;
     default:
         break;

libraries/AP_Landing/AP_Landing.h

@@ -100,7 +100,7 @@ public:
     bool is_complete(void) const;
     void set_initial_slope(void) { initial_slope = slope; }
     bool is_expecting_impact(void) const;
-    void log(void) const;
+    void Log(void) const;
     const DataFlash_Class::PID_Info * get_pid_info(void) const;
 
     // landing altitude offset (meters)

libraries/AP_Landing/AP_Landing_Deepstall.cpp

@@ -428,7 +428,7 @@ const DataFlash_Class::PID_Info& AP_Landing_Deepstall::get_pid_info(void) const
     return ds_PID.get_pid_info();
 }
 
-void AP_Landing_Deepstall::log(void) const {
+void AP_Landing_Deepstall::Log(void) const {
     const DataFlash_Class::PID_Info& pid_info = ds_PID.get_pid_info();
     struct log_DSTL pkt = {
         LOG_PACKET_HEADER_INIT(LOG_DSTL_MSG),

libraries/AP_Landing/AP_Landing_Deepstall.h

@@ -105,7 +105,7 @@ private:
     bool is_flying_forward(void) const;
     bool is_on_approach(void) const;
     bool terminate(void);
-    void log(void) const;
+    void Log(void) const;
 
     bool send_deepstall_message(mavlink_channel_t chan) const;
 

libraries/AP_Landing/AP_Landing_Slope.cpp

@@ -191,8 +191,8 @@ void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle
         // offset and "perfect" slope.
 
         // calculate projected slope with projected alt
-        float new_slope_deg = degrees(atan(slope));
-        float initial_slope_deg = degrees(atan(initial_slope));
+        float new_slope_deg = degrees(atanf(slope));
+        float initial_slope_deg = degrees(atanf(initial_slope));
 
         // is projected slope too steep?
         if (new_slope_deg - initial_slope_deg > slope_recalc_steep_threshold_to_abort) {
@@ -201,7 +201,7 @@ void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle
             alt_offset = rangefinder_state.correction;
             flags.commanded_go_around = true;
             type_slope_flags.has_aborted_due_to_slope_recalc = true; // only allow this once.
-            log();
+            Log();
         }
     }
 }