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AP_Frsky_Telem: move get_bearing_cd to Location and rename to get_bearing_to

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Pierre Kancir 2019-04-05 15:02:42 +02:00 committed by Peter Barker
parent 6faf1d2849
commit 1abe8c04f2
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
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@ -27,6 +27,7 @@
#include <AP_RangeFinder/AP_RangeFinder.h> #include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_Common/AP_FWVersion.h> #include <AP_Common/AP_FWVersion.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_Common/Location.h>
#include <stdio.h> #include <stdio.h>
@ -733,7 +734,7 @@ uint32_t AP_Frsky_Telem::calc_home(void)
// distance between vehicle and home_loc in meters // distance between vehicle and home_loc in meters
home = prep_number(roundf(home_loc.get_distance(loc)), 3, 2); home = prep_number(roundf(home_loc.get_distance(loc)), 3, 2);
// angle from front of vehicle to the direction of home_loc in 3 degree increments (just in case, limit to 127 (0x7F) since the value is stored on 7 bits) // angle from front of vehicle to the direction of home_loc in 3 degree increments (just in case, limit to 127 (0x7F) since the value is stored on 7 bits)
home |= (((uint8_t)roundf(get_bearing_cd(loc,home_loc) * 0.00333f)) & HOME_BEARING_LIMIT)<<HOME_BEARING_OFFSET; home |= (((uint8_t)roundf(loc.get_bearing_to(home_loc) * 0.00333f)) & HOME_BEARING_LIMIT)<<HOME_BEARING_OFFSET;
} }
// altitude between vehicle and home_loc // altitude between vehicle and home_loc
_relative_home_altitude = loc.alt; _relative_home_altitude = loc.alt;