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Plane: update locations_are_same to same_latlon_as

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This commit is contained in:
Pierre Kancir 2019-04-08 13:45:29 +02:00 committed by Tom Pittenger
parent b10e75f4e1
commit d8990a002e
2 changed files with 3 additions and 3 deletions
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4
ArduPlane/commands_logic.cpp
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@ -466,7 +466,7 @@ void Plane::do_continue_and_change_alt(const AP_Mission::Mission_Command& cmd)
// be computed. However, if we had just changed modes before this, such as an aborted landing // be computed. However, if we had just changed modes before this, such as an aborted landing
// via mode change, the prev and next wps are the same. // via mode change, the prev and next wps are the same.
float bearing; float bearing;
if (!locations_are_same(prev_WP_loc, next_WP_loc)) { if (!prev_WP_loc.same_latlon_as(next_WP_loc)) {
// use waypoint based bearing, this is the usual case // use waypoint based bearing, this is the usual case
steer_state.hold_course_cd = -1; steer_state.hold_course_cd = -1;
} else if (AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) { } else if (AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
@ -778,7 +778,7 @@ bool Plane::verify_RTL()
bool Plane::verify_continue_and_change_alt() bool Plane::verify_continue_and_change_alt()
{ {
// is waypoint info not available and heading hold is? // is waypoint info not available and heading hold is?
if (locations_are_same(prev_WP_loc, next_WP_loc) && if (prev_WP_loc.same_latlon_as(next_WP_loc) &&
steer_state.hold_course_cd != -1) { steer_state.hold_course_cd != -1) {
//keep flying the same course with fixed steering heading computed at start if cmd //keep flying the same course with fixed steering heading computed at start if cmd
nav_controller->update_heading_hold(steer_state.hold_course_cd); nav_controller->update_heading_hold(steer_state.hold_course_cd);

2
ArduPlane/quadplane.cpp
View File

@ -2217,7 +2217,7 @@ void QuadPlane::setup_target_position(void)
poscontrol.target.z = plane.next_WP_loc.alt - origin.alt; poscontrol.target.z = plane.next_WP_loc.alt - origin.alt;
const uint32_t now = AP_HAL::millis(); const uint32_t now = AP_HAL::millis();
if (!locations_are_same(loc, last_auto_target) || if (!loc.same_latlon_as(last_auto_target) ||
plane.next_WP_loc.alt != last_auto_target.alt || plane.next_WP_loc.alt != last_auto_target.alt ||
now - last_loiter_ms > 500) { now - last_loiter_ms > 500) {
wp_nav->set_wp_destination(poscontrol.target); wp_nav->set_wp_destination(poscontrol.target);