From eb52f7c4106581689fa812f53274de14a823d3aa Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 3 Sep 2018 09:25:19 +1000
Subject: [PATCH] EKF: Remove implicit conversion and use single precision trig
 operator

Double precision accuracy is not required for this operation.
---
 EKF/gps_yaw_fusion.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/EKF/gps_yaw_fusion.cpp b/EKF/gps_yaw_fusion.cpp
index da60b57538..8a2a3cc601 100644
--- a/EKF/gps_yaw_fusion.cpp
+++ b/EKF/gps_yaw_fusion.cpp
@@ -76,8 +76,8 @@ void Ekf::fuseGpsAntYaw()
 		predicted_hdg =  atan2f(ant_vec_ef(1),ant_vec_ef(0));
 
 		// calculate observation jacobian
-		float t2 = sin(_gps_yaw_offset);
-		float t3 = cos(_gps_yaw_offset);
+		float t2 = sinf(_gps_yaw_offset);
+		float t3 = cosf(_gps_yaw_offset);
 		float t4 = q0*q3*2.0f;
 		float t5 = q0*q0;
 		float t6 = q1*q1;