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

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This allows removing duplicated code
This commit is contained in:
Dr.-Ing. Amilcar do Carmo Lucas 2019-02-25 01:11:25 +01:00 committed by Peter Barker
parent 62fa59238b
commit 08124faab4
2 changed files with 2 additions and 2 deletions
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2
ArduCopter/commands.cpp
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@ -107,7 +107,7 @@ bool Copter::far_from_EKF_origin(const Location& loc)
{
// check distance to EKF origin
const struct Location &ekf_origin = inertial_nav.get_origin();
if (get_distance(ekf_origin, loc) > EKF_ORIGIN_MAX_DIST_M) {
if (ekf_origin.get_distance(loc) > EKF_ORIGIN_MAX_DIST_M) {
return true;
}

2
ArduCopter/navigation.cpp
View File

@ -14,7 +14,7 @@ void Copter::run_nav_updates(void)
uint32_t Copter::home_distance()
{
if (position_ok()) {
_home_distance = get_distance_cm(current_loc, ahrs.get_home());
_home_distance = current_loc.get_distance(ahrs.get_home()) * 100;
}
return _home_distance;
}