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AP_Math: move get_bearing_cd to Location and rename to get_bearing_to

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This commit is contained in:
Pierre Kancir 2019-04-05 15:02:43 +02:00 committed by Peter Barker
parent 288ae80a59
commit 88b29ff18c
3 changed files with 1 additions and 14 deletions
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2
libraries/AP_Math/examples/location/location.cpp
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@ -76,7 +76,7 @@ static void test_one_offset(const struct Location &loc,
hal.console->printf("location_offset took %u usec\n",
(unsigned)(AP_HAL::micros() - t1));
dist2 = loc.get_distance(loc2);
bearing2 = get_bearing_cd(loc, loc2) * 0.01f;
bearing2 = loc.get_bearing_to(loc2) * 0.01f;
float brg_error = bearing2-bearing;
if (brg_error > 180) {
brg_error -= 360;

10
libraries/AP_Math/location.cpp
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@ -30,16 +30,6 @@ float get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destina
return norm(destination.x-origin.x,destination.y-origin.y);
}
// return bearing in centi-degrees between two locations
int32_t get_bearing_cd(const struct Location &loc1, const struct Location &loc2)
{
int32_t off_x = loc2.lng - loc1.lng;
const int32_t off_y = (loc2.lat - loc1.lat) / loc2.longitude_scale();
int32_t bearing = 9000 + atan2f(-off_y, off_x) * DEGX100;
if (bearing < 0) bearing += 36000;
return bearing;
}
// return bearing in centi-degrees between two positions
float get_bearing_cd(const Vector3f &origin, const Vector3f &destination)
{

3
libraries/AP_Math/location.h
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@ -22,9 +22,6 @@
// return horizontal distance in centimeters between two positions
float get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination);
// return bearing in centi-degrees between two locations
int32_t get_bearing_cd(const struct Location &loc1, const struct Location &loc2);
// return bearing in centi-degrees between two positions
float get_bearing_cd(const Vector3f &origin, const Vector3f &destination);