Is the 1e-20 in the second line a typo? In the old version this was 1e-10.

float utils_fast_atan2(float y, float x) {

float abs_y = fabsf(y) + **1e-20**; // kludge to prevent 0/0 condition

float angle;

if (x >= 0) {

float r = (x - abs_y) / (x + abs_y);

float rsq = r * r;

angle = ((0.1963 * rsq) - 0.9817) * r + (M_PI / 4.0);

} else {

float r = (x + abs_y) / (abs_y - x);

float rsq = r * r;

angle = ((0.1963 * rsq) - 0.9817) * r + (3.0 * M_PI / 4.0);

}

if (y < 0) {

return(-angle);

} else {

return(angle);

}

}

I guess the 10^-20 is only to prevent divide by zero. The smaller the amount the closer you get to infinity hence a smaller number is better ( 10^-20 < 10^-10 ).

In File: rf.c

// Enable dynamic payload length

void rf_enable_pipe_dlp(int pipes)

i think you meant to write "rf_enable_pipe_dpl" instead of "rf_enable_pipe_dlp" ?

i could be wrong, idk..

but either way no big deal...

;-)

Dimitri.