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ACM: removed some Location functions which are now in AP_Math

This commit is contained in:
Andrew Tridgell 2012-07-04 13:44:36 +10:00
parent be9b9f3e67
commit 5ed345fe94
1 changed files with 0 additions and 33 deletions
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33
ArduCopter/navigation.pde
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@ -420,36 +420,3 @@ static int32_t wrap_180(int32_t error)
return error; return error;
} }
/*
//static int32_t get_altitude_above_home(void)
{
// This is the altitude above the home location
// The GPS gives us altitude at Sea Level
// if you slope soar, you should see a negative number sometimes
// -------------------------------------------------------------
return current_loc.alt - home.alt;
}
*/
// distance is returned in cm
static int32_t get_distance(struct Location *loc1, struct Location *loc2)
{
float dlat = (float)(loc2->lat - loc1->lat);
float dlong = ((float)(loc2->lng - loc1->lng)) * scaleLongDown;
dlong = sqrt(sq(dlat) + sq(dlong)) * 1.113195;
return dlong;
}
/*
//static int32_t get_alt_distance(struct Location *loc1, struct Location *loc2)
{
return abs(loc1->alt - loc2->alt);
}
*/
static int32_t get_bearing(struct Location *loc1, struct Location *loc2)
{
int32_t off_x = loc2->lng - loc1->lng;
int32_t off_y = (loc2->lat - loc1->lat) * scaleLongUp;
int32_t bearing = 9000 + atan2(-off_y, off_x) * 5729.57795;
if (bearing < 0) bearing += 36000;
return bearing;
}