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ArduPlane: move get_bearing_cd to Location and rename to get_bearing_to

This commit is contained in:
Pierre Kancir 2019-04-05 15:02:44 +02:00 committed by Peter Barker
parent 5987966ac6
commit 58328da5f3
2 changed files with 3 additions and 3 deletions
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4
ArduPlane/commands_logic.cpp
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@ -787,7 +787,7 @@ bool Plane::verify_continue_and_change_alt()
// Is the next_WP less than 200 m away?
if (current_loc.get_distance(next_WP_loc) < 200.0f) {
//push another 300 m down the line
int32_t next_wp_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
int32_t next_wp_bearing_cd = prev_WP_loc.get_bearing_to(next_WP_loc);
location_update(next_WP_loc, next_wp_bearing_cd * 0.01f, 300.0f);
}
@ -1079,7 +1079,7 @@ bool Plane::verify_loiter_heading(bool init)
}
// Bearing in degrees
int32_t bearing_cd = get_bearing_cd(current_loc,next_nav_cmd.content.location);
int32_t bearing_cd = current_loc.get_bearing_to(next_nav_cmd.content.location);
// get current heading.
int32_t heading_cd = gps.ground_course_cd();

2
ArduPlane/navigation.cpp
View File

@ -344,7 +344,7 @@ void Plane::setup_turn_angle(void)
auto_state.next_turn_angle = 90.0f;
} else {
// get the heading of the current leg
int32_t ground_course_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
int32_t ground_course_cd = prev_WP_loc.get_bearing_to(next_WP_loc);
// work out the angle we need to turn through
auto_state.next_turn_angle = wrap_180_cd(next_ground_course_cd - ground_course_cd) * 0.01f;