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AP_Math: move sanitize to be a method on location

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This commit is contained in:
Peter Barker 2019-03-23 14:30:02 +11:00 committed by Andrew Tridgell
parent fd294101ec
commit e6a8e337c7
2 changed files with 0 additions and 35 deletions
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30
libraries/AP_Math/location.cpp
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@ -126,36 +126,6 @@ bool locations_are_same(const struct Location &loc1, const struct Location &loc2
return (loc1.lat == loc2.lat) && (loc1.lng == loc2.lng);
}
/*
* convert invalid waypoint with useful data. return true if location changed
*/
bool location_sanitize(const struct Location &defaultLoc, struct Location &loc)
{
bool has_changed = false;
// convert lat/lng=0 to mean current point
if (loc.lat == 0 && loc.lng == 0) {
loc.lat = defaultLoc.lat;
loc.lng = defaultLoc.lng;
has_changed = true;
}
// convert relative alt=0 to mean current alt
if (loc.alt == 0 && loc.relative_alt) {
loc.relative_alt = false;
loc.alt = defaultLoc.alt;
has_changed = true;
}
// limit lat/lng to appropriate ranges
if (!check_latlng(loc)) {
loc.lat = defaultLoc.lat;
loc.lng = defaultLoc.lng;
has_changed = true;
}
return has_changed;
}
// return true when lat and lng are within range
bool check_lat(float lat)
{

5
libraries/AP_Math/location.h
View File

@ -64,11 +64,6 @@ Vector3f location_3d_diff_NED(const struct Location &loc1, const struct Locat
*/
bool locations_are_same(const struct Location &loc1, const struct Location &loc2);
/*
* convert invalid waypoint with useful data. return true if location changed
*/
bool location_sanitize(const struct Location &defaultLoc, struct Location &loc);
// Converts from WGS84 geodetic coordinates (lat, lon, height)
// into WGS84 Earth Centered, Earth Fixed (ECEF) coordinates
// (X, Y, Z)