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AP_GPS: fixed build without GPS_MOVING_BASELINE

This commit is contained in:
Andrew Tridgell 2022-11-22 21:04:44 +11:00
parent 02d6931c4d
commit 2837471ddf
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_GPS/AP_GPS_NMEA.cpp
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@ -454,12 +454,14 @@ bool AP_GPS_NMEA::_term_complete()
state.have_undulation = true;
if (ag.heading_status == 4) {
#if GPS_MOVING_BASELINE
Location slave( ag.slave_lat*1.0e7, ag.slave_lng*1.0e7, ag.slave_alt*1.0e2, Location::AltFrame::ABSOLUTE );
const float dist = state.location.get_distance_NED(slave).length();
const float bearing = degrees(state.location.get_bearing(slave));
const float alt_diff = (state.location.alt - slave.alt)*0.01;
calculate_moving_base_yaw(bearing, dist, alt_diff);
state.gps_yaw_configured = true;
#endif
} else {
state.have_gps_yaw = false;
}