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Copter: remove unused pos vector functions

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removed pv_latlon_to_vector, pv_get_lat, pv_get_lon.
it would probably be best if these were moved into the Math library
This commit is contained in:
Randy Mackay 2014-05-27 16:30:32 +09:00
parent d4a892c650
commit 0b5ff80b3e
1 changed files with 2 additions and 27 deletions
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29
ArduCopter/position_vector.pde
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@ -2,43 +2,18 @@
// position_vector.pde related utility functions
// position vectors are Vector2f
// position vectors are Vector3f
// .x = latitude from home in cm
// .y = longitude from home in cm
// .z = altitude above home in cm
// pv_latlon_to_vector - convert lat/lon coordinates to a position vector
Vector3f pv_latlon_to_vector(int32_t lat, int32_t lon, int32_t alt)
{
Vector3f tmp((lat-home.lat) * LATLON_TO_CM, (lon-home.lng) * LATLON_TO_CM * scaleLongDown, alt);
return tmp;
}
// pv_latlon_to_vector - convert lat/lon coordinates to a position vector
Vector3f pv_location_to_vector(Location loc)
Vector3f pv_location_to_vector(const Location& loc)
{
Vector3f tmp((loc.lat-home.lat) * LATLON_TO_CM, (loc.lng-home.lng) * LATLON_TO_CM * scaleLongDown, loc.alt);
return tmp;
}
// pv_get_lon - extract latitude from position vector
int32_t pv_get_lat(const Vector3f pos_vec)
{
return home.lat + (int32_t)(pos_vec.x / LATLON_TO_CM);
}
// pv_get_lon - extract longitude from position vector
int32_t pv_get_lon(const Vector3f &pos_vec)
{
return home.lng + (int32_t)(pos_vec.y / LATLON_TO_CM * scaleLongUp);
}
// pv_get_horizontal_distance_cm - return distance between two positions in cm
float pv_get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination)
{
return pythagorous2(destination.x-origin.x,destination.y-origin.y);
}
// pv_get_bearing_cd - return bearing in centi-degrees between two positions
float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination)
{