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atan() function taking alot of time to execute

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If you are just calling atan and including math.h you are using the default atan implementation present in the run time support library. This code is very well optimized for our devices. Depending on if you have floating point or not there are a couple options for faster math. Check out the math directory in controlsuite/libs. There are implementations of atan for the CLA, IQMath, and FPU. If you use the FPUFastRTS library make sure it is first in the link order otherwise the standard atan function might get linked in instead of the fast one.




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