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AP_Common: remove is-zero checks for Location::offset

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Only one call in 160 actually passes these in as zeroes, so doing the
checks vastly outweighs the benefits of not doing the maths

We do call this a lot when doing terrain checks.
This commit is contained in:
Peter Barker 2019-11-06 11:56:23 +11:00 committed by Andrew Tridgell
parent d18432adaa
commit 6c0b4206c5
1 changed files with 4 additions and 7 deletions
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11
libraries/AP_Common/Location.cpp
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@ -245,13 +245,10 @@ Vector3f Location::get_distance_NED(const Location &loc2) const
// extrapolate latitude/longitude given distances (in meters) north and east // extrapolate latitude/longitude given distances (in meters) north and east
void Location::offset(float ofs_north, float ofs_east) void Location::offset(float ofs_north, float ofs_east)
{ {
// use is_equal() because is_zero() is a local class conflict and is_zero() in AP_Math does not belong to a class const int32_t dlat = ofs_north * LOCATION_SCALING_FACTOR_INV;
if (!is_equal(ofs_north, 0.0f) || !is_equal(ofs_east, 0.0f)) { const int32_t dlng = (ofs_east * LOCATION_SCALING_FACTOR_INV) / longitude_scale();
int32_t dlat = ofs_north * LOCATION_SCALING_FACTOR_INV; lat += dlat;
int32_t dlng = (ofs_east * LOCATION_SCALING_FACTOR_INV) / longitude_scale(); lng += dlng;
lat += dlat;
lng += dlng;
}
} }
/* /*