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AP_L1_Control: 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 1abe8c04f2
commit 2efe32e4b1
2 changed files with 3 additions and 2 deletions
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4
libraries/AP_L1_Control/AP_L1_Control.cpp
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@ -224,7 +224,7 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
Vector2f _groundspeed_vector = _ahrs.groundspeed_vector();
// update _target_bearing_cd
_target_bearing_cd = get_bearing_cd(_current_loc, next_WP);
_target_bearing_cd = _current_loc.get_bearing_to(next_WP);
//Calculate groundspeed
float groundSpeed = _groundspeed_vector.length();
@ -360,7 +360,7 @@ void AP_L1_Control::update_loiter(const struct Location &center_WP, float radius
// update _target_bearing_cd
_target_bearing_cd = get_bearing_cd(_current_loc, center_WP);
_target_bearing_cd = _current_loc.get_bearing_to(center_WP);
// Calculate time varying control parameters

1
libraries/AP_L1_Control/AP_L1_Control.h
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@ -18,6 +18,7 @@
#include <AP_Param/AP_Param.h>
#include <AP_Navigation/AP_Navigation.h>
#include <AP_SpdHgtControl/AP_SpdHgtControl.h>
#include <AP_Common/Location.h>
class AP_L1_Control : public AP_Navigation {
public: