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

This allows removing duplicated code
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Dr.-Ing. Amilcar do Carmo Lucas 2019-02-25 01:13:45 +01:00 committed by Peter Barker
parent 44ab1cf14b
commit 0725879c49
1 changed files with 1 additions and 1 deletions
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libraries/AP_Avoidance/AP_Avoidance.cpp
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@ -371,7 +371,7 @@ void AP_Avoidance::update_threat_level(const Location &my_loc,
// level is none - but only *once the GCS has been informed*!
obstacle.closest_approach_xy = closest_xy;
obstacle.closest_approach_z = closest_z;
float current_distance = get_distance(my_loc, obstacle_loc);
float current_distance = my_loc.get_distance(obstacle_loc);
obstacle.distance_to_closest_approach = current_distance - closest_xy;
Vector2f net_velocity_ne = Vector2f(my_vel[0] - obstacle_vel[0], my_vel[1] - obstacle_vel[1]);
obstacle.time_to_closest_approach = 0.0f;