From c0b18e4d528606e2fc3c8ba7642cc78e50f92b0e Mon Sep 17 00:00:00 2001 From: Josh Henderson Date: Sat, 11 Sep 2021 06:28:25 -0400 Subject: [PATCH] AC_Avoid: use vector.xy().length() instead of norm(x,y) --- libraries/AC_Avoidance/AC_Avoid.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AC_Avoidance/AC_Avoid.cpp b/libraries/AC_Avoidance/AC_Avoid.cpp index 399594f963..efb2b87087 100644 --- a/libraries/AC_Avoidance/AC_Avoid.cpp +++ b/libraries/AC_Avoidance/AC_Avoid.cpp @@ -1174,7 +1174,7 @@ void AC_Avoid::adjust_velocity_proximity(float kP, float accel_cmss, Vector3f &d if (breach_dist > deadzone) { // this vector will help us decide how much we have to back away horizontally and vertically const Vector3f margin_vector = vector_to_obstacle.normalized() * breach_dist; - const float xy_back_dist = norm(margin_vector.x, margin_vector.y); + const float xy_back_dist = margin_vector.xy().length(); const float z_back_dist = margin_vector.z; calc_backup_velocity_3D(kP, accel_cmss, quad_1_back_vel, quad_2_back_vel, quad_3_back_vel, quad_4_back_vel, xy_back_dist, vector_to_obstacle, kP_z, accel_cmss_z, z_back_dist, min_back_vel_z, max_back_vel_z, dt); }