Rover: use radians(0.01f) to convert to radians from cd

Author: lthall

Rover/mode.cpp

@@ -496,7 +496,7 @@ void Mode::calc_steering_from_lateral_acceleration(float lat_accel, bool reverse
 void Mode::calc_steering_to_heading(float desired_heading_cd, float rate_max_degs)
 {
     // call heading controller
-    const float steering_out = attitude_control.get_steering_out_heading(radians(desired_heading_cd*0.01f),
+    const float steering_out = attitude_control.get_steering_out_heading(desired_heading_cd * radians(0.01f),
                                                                          radians(rate_max_degs),
                                                                          g2.motors.limit.steer_left,
                                                                          g2.motors.limit.steer_right,

Rover/mode_guided.cpp

@@ -82,7 +82,7 @@ void ModeGuided::update()
             }
             if (have_attitude_target) {
                 // run steering and throttle controllers
-                float steering_out = attitude_control.get_steering_out_rate(radians(_desired_yaw_rate_cds * 0.01f),
+                float steering_out = attitude_control.get_steering_out_rate(_desired_yaw_rate_cds * radians(0.01f),
                                                                             g2.motors.limit.steer_left,
                                                                             g2.motors.limit.steer_right,
                                                                             rover.G_Dt);

Rover/sailboat.cpp

@@ -317,7 +317,7 @@ float Sailboat::get_VMG() const
         return speed;
     }
 
-    return (speed * cosf(wrap_PI(radians(rover.g2.wp_nav.wp_bearing_cd() * 0.01f) - rover.ahrs.get_yaw())));
+    return (speed * cosf(wrap_PI(rover.g2.wp_nav.wp_bearing_cd() * radians(0.01f) - rover.ahrs.get_yaw())));
 }
 
 // handle user initiated tack while in acro mode
@@ -384,7 +384,7 @@ bool Sailboat::use_indirect_route(float desired_heading_cd) const
     }
 
     // convert desired heading to radians
-    const float desired_heading_rad = radians(desired_heading_cd * 0.01f);
+    const float desired_heading_rad = desired_heading_cd * radians(0.01f);
 
     // check if desired heading is in the no go zone, if it is we can't go direct
     // pad no go zone, this allows use of heading controller rather than L1 when close to the wind
@@ -404,7 +404,7 @@ float Sailboat::calc_heading(float desired_heading_cd)
     const AP_WindVane::Sailboat_Tack current_tack = rover.g2.windvane.get_current_tack();
 
     // convert desired heading to radians
-    const float desired_heading_rad = radians(desired_heading_cd * 0.01f);
+    const float desired_heading_rad = desired_heading_cd * radians(0.01f);
 
     // if the desired heading is outside the no go zone there is no need to change it
     // this allows use of heading controller rather than L1 when desired