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

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This allows removing duplicated code
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Dr.-Ing. Amilcar do Carmo Lucas 2019-02-25 01:16:20 +01:00 committed by Peter Barker
parent e7281aeddc
commit f61523b378
1 changed files with 1 additions and 1 deletions
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libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
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@ -731,7 +731,7 @@ uint32_t AP_Frsky_Telem::calc_home(void)
const Location &home_loc = _ahrs.get_home(); const Location &home_loc = _ahrs.get_home();
if (home_loc.lat != 0 || home_loc.lng != 0) { if (home_loc.lat != 0 || home_loc.lng != 0) {
// distance between vehicle and home_loc in meters // distance between vehicle and home_loc in meters
home = prep_number(roundf(get_distance(home_loc, loc)), 3, 2); home = prep_number(roundf(home_loc.get_distance(loc)), 3, 2);
// angle from front of vehicle to the direction of home_loc in 3 degree increments (just in case, limit to 127 (0x7F) since the value is stored on 7 bits) // angle from front of vehicle to the direction of home_loc in 3 degree increments (just in case, limit to 127 (0x7F) since the value is stored on 7 bits)
home |= (((uint8_t)roundf(get_bearing_cd(loc,home_loc) * 0.00333f)) & HOME_BEARING_LIMIT)<<HOME_BEARING_OFFSET; home |= (((uint8_t)roundf(get_bearing_cd(loc,home_loc) * 0.00333f)) & HOME_BEARING_LIMIT)<<HOME_BEARING_OFFSET;
} }