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ArduPlane: use get_distance_NE instead of location_diff

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This commit is contained in:
Pierre Kancir 2019-04-08 15:16:20 +02:00 committed by Tom Pittenger
parent ebdcfdf65b
commit 47141562c0
1 changed files with 2 additions and 4 deletions
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6
ArduPlane/quadplane.cpp
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@ -2017,7 +2017,7 @@ void QuadPlane::vtol_position_controller(void)
switch (poscontrol.state) {
case QPOS_POSITION1: {
Vector2f diff_wp = location_diff(plane.current_loc, loc);
const Vector2f diff_wp = plane.current_loc.get_distance_NE(loc);
const float distance = diff_wp.length();
if (poscontrol.speed_scale <= 0) {
@ -2209,11 +2209,9 @@ void QuadPlane::setup_target_position(void)
{
const Location &loc = plane.next_WP_loc;
Location origin = inertial_nav.get_origin();
Vector2f diff2d;
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
diff2d = location_diff(origin, loc);
const Vector2f diff2d = origin.get_distance_NE(loc);
poscontrol.target.x = diff2d.x * 100;
poscontrol.target.y = diff2d.y * 100;
poscontrol.target.z = plane.next_WP_loc.alt - origin.alt;