Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_OSD: move get_bearing_cd to Location and rename to get_bearing_to

This commit is contained in:
Pierre Kancir 2019-04-05 15:02:43 +02:00 committed by Peter Barker
parent 92be1780ac
commit 492c7532eb
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AP_OSD/AP_OSD_Screen.cpp
View File

@ -29,6 +29,7 @@
#include <AP_RSSI/AP_RSSI.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_Stats/AP_Stats.h>
#include <AP_Common/Location.h>
#include <ctype.h>
#include <GCS_MAVLink/GCS.h>
@ -630,7 +631,7 @@ void AP_OSD_Screen::draw_home(uint8_t x, uint8_t y)
if (ahrs.get_position(loc) && ahrs.home_is_set()) {
const Location &home_loc = ahrs.get_home();
float distance = home_loc.get_distance(loc);
int32_t angle = wrap_360_cd(get_bearing_cd(loc, home_loc) - ahrs.yaw_sensor);
int32_t angle = wrap_360_cd(loc.get_bearing_to(home_loc) - ahrs.yaw_sensor);
int32_t interval = 36000 / SYM_ARROW_COUNT;
if (distance < 2.0f) {
//avoid fast rotating arrow at small distances