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AP_NavEKF3: 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 01:16:24 +01:00 committed by Peter Barker
parent 79ee52917f
commit 390e0fa601
1 changed files with 2 additions and 2 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
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@ -325,7 +325,7 @@ bool NavEKF3_core::getLLH(struct Location &loc) const
if (filterStatus.flags.horiz_pos_abs || filterStatus.flags.horiz_pos_rel) { if (filterStatus.flags.horiz_pos_abs || filterStatus.flags.horiz_pos_rel) {
loc.lat = EKF_origin.lat; loc.lat = EKF_origin.lat;
loc.lng = EKF_origin.lng; loc.lng = EKF_origin.lng;
location_offset(loc, outputDataNew.position.x, outputDataNew.position.y); loc.offset(outputDataNew.position.x, outputDataNew.position.y);
return true; return true;
} else { } else {
// we could be in constant position mode because the vehicle has taken off without GPS, or has lost GPS // we could be in constant position mode because the vehicle has taken off without GPS, or has lost GPS
@ -338,7 +338,7 @@ bool NavEKF3_core::getLLH(struct Location &loc) const
return true; return true;
} else { } else {
// if no GPS fix, provide last known position before entering the mode // if no GPS fix, provide last known position before entering the mode
location_offset(loc, lastKnownPositionNE.x, lastKnownPositionNE.y); loc.offset(lastKnownPositionNE.x, lastKnownPositionNE.y);
return false; return false;
} }
} }