Copter: use M_PI_F instead of (float)M_PI

ArduCopter/commands_logic.pde

@@ -701,7 +701,7 @@ static bool verify_circle(const AP_Mission::Mission_Command& cmd)
     }
 
     // check if we have completed circling
-    return fabsf(circle_nav.get_angle_total()/(float)(2*M_PI)) >= LOWBYTE(cmd.p1);
+    return fabsf(circle_nav.get_angle_total()/(2*M_PI_F)) >= LOWBYTE(cmd.p1);
 }
 
 // externs to remove compiler warning

ArduCopter/control_poshold.pde

@@ -641,8 +641,8 @@ static void poshold_get_wind_comp_lean_angles(int16_t &roll_angle, int16_t &pitc
     poshold.wind_comp_timer = 0;
 
     // convert earth frame desired accelerations to body frame roll and pitch lean angles
-    roll_angle = (float)fast_atan((-poshold.wind_comp_ef.x*ahrs.sin_yaw() + poshold.wind_comp_ef.y*ahrs.cos_yaw())/981)*(18000/(float)M_PI);
-    pitch_angle = (float)fast_atan(-(poshold.wind_comp_ef.x*ahrs.cos_yaw() + poshold.wind_comp_ef.y*ahrs.sin_yaw())/981)*(18000/(float)M_PI);
+    roll_angle = (float)fast_atan((-poshold.wind_comp_ef.x*ahrs.sin_yaw() + poshold.wind_comp_ef.y*ahrs.cos_yaw())/981)*(18000/M_PI_F);
+    pitch_angle = (float)fast_atan(-(poshold.wind_comp_ef.x*ahrs.cos_yaw() + poshold.wind_comp_ef.y*ahrs.sin_yaw())/981)*(18000/M_PI_F);
 }
 
 // poshold_roll_controller_to_pilot_override - initialises transition from a controller submode (brake or loiter) to a pilot override on roll axis