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Copter: remove unused pv_location_to_vector_with_default

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This commit is contained in:
Randy Mackay 2016-05-25 16:19:42 +09:00
parent 390d06a400
commit cb9ca94dd1
2 changed files with 0 additions and 21 deletions
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1
ArduCopter/Copter.h
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@ -931,7 +931,6 @@ private:
uint16_t perf_info_get_num_long_running();
uint32_t perf_info_get_num_dropped();
Vector3f pv_location_to_vector(const Location& loc);
Vector3f pv_location_to_vector_with_default(const Location& loc, const Vector3f& default_posvec);
float pv_alt_above_origin(float alt_above_home_cm);
float pv_alt_above_home(float alt_above_origin_cm);
float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination);

20
ArduCopter/position_vector.cpp
View File

@ -17,26 +17,6 @@ Vector3f Copter::pv_location_to_vector(const Location& loc)
return Vector3f((loc.lat-origin.lat) * LATLON_TO_CM, (loc.lng-origin.lng) * LATLON_TO_CM * scaleLongDown, alt_above_origin);
}
// pv_location_to_vector_with_default - convert lat/lon coordinates to a position vector,
// defaults to the default_posvec's lat/lon and alt if the provided lat/lon or alt are zero
Vector3f Copter::pv_location_to_vector_with_default(const Location& loc, const Vector3f& default_posvec)
{
Vector3f pos = pv_location_to_vector(loc);
// set target altitude to default if not provided
if (loc.alt == 0) {
pos.z = default_posvec.z;
}
// set target position to default if not provided
if (loc.lat == 0 && loc.lng == 0) {
pos.x = default_posvec.x;
pos.y = default_posvec.y;
}
return pos;
}
// pv_alt_above_origin - convert altitude above home to altitude above EKF origin
float Copter::pv_alt_above_origin(float alt_above_home_cm)
{