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AP_Landing: move get_bearing_cd to Location and rename to get_bearing_to

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This commit is contained in:
Pierre Kancir 2019-04-05 15:02:43 +02:00 committed by Peter Barker
parent 2efe32e4b1
commit 288ae80a59
2 changed files with 5 additions and 4 deletions
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2
libraries/AP_Landing/AP_Landing_Deepstall.cpp
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@ -174,7 +174,7 @@ void AP_Landing_Deepstall::verify_abort_landing(const Location &prev_WP_loc, Loc
// when aborting a landing, mimic the verify_takeoff with steering hold. Once
// the altitude has been reached, restart the landing sequence
throttle_suppressed = false;
landing.nav_controller->update_heading_hold(get_bearing_cd(prev_WP_loc, next_WP_loc));
landing.nav_controller->update_heading_hold(prev_WP_loc.get_bearing_to(next_WP_loc));
}

7
libraries/AP_Landing/AP_Landing_Slope.cpp
View File

@ -39,7 +39,7 @@ void AP_Landing::type_slope_verify_abort_landing(const Location &prev_WP_loc, Lo
// when aborting a landing, mimic the verify_takeoff with steering hold. Once
// the altitude has been reached, restart the landing sequence
throttle_suppressed = false;
nav_controller->update_heading_hold(get_bearing_cd(prev_WP_loc, next_WP_loc));
nav_controller->update_heading_hold(prev_WP_loc.get_bearing_to(next_WP_loc));
}
/*
@ -136,7 +136,8 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
prevents sudden turns if we overshoot the landing point
*/
struct Location land_WP_loc = next_WP_loc;
int32_t land_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
int32_t land_bearing_cd = prev_WP_loc.get_bearing_to(next_WP_loc);
location_update(land_WP_loc,
land_bearing_cd*0.01f,
prev_WP_loc.get_distance(current_loc) + 200);
@ -288,7 +289,7 @@ void AP_Landing::type_slope_setup_landing_glide_slope(const Location &prev_WP_lo
// project a point 500 meters past the landing point, passing
// through the landing point
const float land_projection = 500;
int32_t land_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
int32_t land_bearing_cd = prev_WP_loc.get_bearing_to(next_WP_loc);
// now calculate our aim point, which is before the landing
// point and above it