AP_NavEKF2: Changed sqrt method to sqrtf method.

AP_NavEKF2: Changed sqrt method to sqrtf method.

libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp

@@ -83,7 +83,7 @@ void NavEKF2_core::FuseRngBcn()
         float t6 = t3*t3;
         float t7 = t4*t4;
         float t8 = t5+t6+t7;
-        float t9 = 1.0f/sqrt(t8);
+        float t9 = 1.0f/sqrtf(t8);
         H_BCN[6] = -t4*t9;
         H_BCN[7] = -t3*t9;
         H_BCN[8] = -t2*t9;
@@ -369,7 +369,7 @@ void NavEKF2_core::FuseRngBcnStatic()
             // calculation will be badly conditioned
             return;
         }
-        float t9 = 1.0f/sqrt(t8);
+        float t9 = 1.0f/sqrtf(t8);
         float t10 = rngBcnDataDelayed.beacon_posNED.x*2.0f;
         float t15 = receiverPos.x*2.0f;
         float t11 = t10-t15;
@@ -498,11 +498,11 @@ void NavEKF2_core::CalcRangeBeaconPosDownOffset(float obsVar, Vector3f &vehicleP
     float t8 = t5+t6+t7;
     float t9;
     if (t8 > 0.1f) {
-        t9 = 1.0f/sqrt(t8);
+        t9 = 1.0f/sqrtf(t8);
         obsDeriv = t2*t9;
 
         // Calculate innovation
-        innov = sqrt(t8) - rngBcnDataDelayed.rng;
+        innov = sqrtf(t8) - rngBcnDataDelayed.rng;
 
         // calculate a filtered innovation magnitude to be used to select between the high or low offset
         OffsetMaxInnovFilt = (1.0f - filtAlpha) * bcnPosOffsetMaxVar + filtAlpha * fabsf(innov);
@@ -535,11 +535,11 @@ void NavEKF2_core::CalcRangeBeaconPosDownOffset(float obsVar, Vector3f &vehicleP
     t5 = t2*t2;
     t8 = t5+t6+t7;
     if (t8 > 0.1f) {
-        t9 = 1.0f/sqrt(t8);
+        t9 = 1.0f/sqrtf(t8);
         obsDeriv = t2*t9;
 
         // Calculate innovation
-        innov = sqrt(t8) - rngBcnDataDelayed.rng;
+        innov = sqrtf(t8) - rngBcnDataDelayed.rng;
 
         // calculate a filtered innovation magnitude to be used to select between the high or low offset
         OffsetMinInnovFilt = (1.0f - filtAlpha) * OffsetMinInnovFilt + filtAlpha * fabsf(innov);