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Copter: clarify pv_location_to_vector param name

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Also update function description
This commit is contained in:
Randy Mackay 2014-11-06 11:39:53 +09:00
parent 71586d40e3
commit 1b64dd2280
1 changed files with 5 additions and 6 deletions
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11
ArduCopter/position_vector.pde
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@ -16,21 +16,20 @@ Vector3f pv_location_to_vector(const Location& loc)
}
// pv_location_to_vector_with_default - convert lat/lon coordinates to a position vector,
// defaulting to the current position if the provided lat/lon are zero and the current
// altitude if the provided altitude is zero.
Vector3f pv_location_to_vector_with_default(const Location& loc, const Vector3f& default_)
// defaults to the default_posvec's lat/lon and alt if the provided lat/lon or alt are zero
Vector3f pv_location_to_vector_with_default(const Location& loc, const Vector3f& default_posvec)
{
Vector3f pos = pv_location_to_vector(loc);
// set target altitude to default if not provided
if (loc.alt == 0) {
pos.z = default_.z;
pos.z = default_posvec.z;
}
// set target position to default if not provided
if (loc.lat == 0 && loc.lng == 0) {
pos.x = default_.x;
pos.y = default_.y;
pos.x = default_posvec.x;
pos.y = default_posvec.y;
}
return pos;