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AP_Rally: replace location_offset() and get_distance() function calls with Location object member function calls

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This allows removing duplicated code
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Dr.-Ing. Amilcar do Carmo Lucas 2019-02-25 01:16:26 +01:00 committed by Peter Barker
parent 12a6e9ad69
commit 00a80f3a1a
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Rally/AP_Rally.cpp
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@ -126,7 +126,7 @@ bool AP_Rally::find_nearest_rally_point(const Location &current_loc, RallyLocati
continue;
}
Location rally_loc = rally_location_to_location(next_rally);
float dis = get_distance(current_loc, rally_loc);
float dis = current_loc.get_distance(rally_loc);
if (is_valid(rally_loc) && (dis < min_dis || min_dis < 0)) {
min_dis = dis;
@ -158,7 +158,7 @@ Location AP_Rally::calc_best_rally_or_home_location(const Location &current_loc,
if (find_nearest_rally_point(current_loc, ral_loc)) {
Location loc = rally_location_to_location(ral_loc);
// use the rally point if it's closer then home, or we aren't generally considering home as acceptable
if (!_rally_incl_home || (get_distance(current_loc, loc) < get_distance(current_loc, return_loc))) {
if (!_rally_incl_home || (current_loc.get_distance(loc) < current_loc.get_distance(return_loc))) {
return_loc = rally_location_to_location(ral_loc);
}
}