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AP_GPS: replace location_offset() and get_distance() function calls with Location object member function calls 

This allows removing duplicated code
This commit is contained in:
Dr.-Ing. Amilcar do Carmo Lucas 2019-02-25 01:16:21 +01:00 committed by Peter Barker
parent f61523b378
commit d7edd396bd
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_GPS/AP_GPS.cpp
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@ -1435,7 +1435,7 @@ void AP_GPS::calc_blended_state(void)
}
// Add the sum of weighted offsets to the reference location to obtain the blended location
location_offset(state[GPS_BLENDED_INSTANCE].location, blended_NE_offset_m.x, blended_NE_offset_m.y);
state[GPS_BLENDED_INSTANCE].location.offset(blended_NE_offset_m.x, blended_NE_offset_m.y);
state[GPS_BLENDED_INSTANCE].location.alt += (int)blended_alt_offset_cm;
// Calculate ground speed and course from blended velocity vector
@ -1474,7 +1474,7 @@ void AP_GPS::calc_blended_state(void)
Location corrected_location[GPS_MAX_RECEIVERS];
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
corrected_location[i] = state[i].location;
location_offset(corrected_location[i], _NE_pos_offset_m[i].x, _NE_pos_offset_m[i].y);
corrected_location[i].offset(_NE_pos_offset_m[i].x, _NE_pos_offset_m[i].y);
corrected_location[i].alt += (int)(_hgt_offset_cm[i]);
}