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AP_Beacon: 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 01:14:10 +01:00 committed by Peter Barker
parent 0725879c49
commit c977a646db
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Beacon/AP_Beacon_SITL.cpp
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@ -81,19 +81,19 @@ void AP_Beacon_SITL::update(void)
switch (beacon_id) { switch (beacon_id) {
case 0: case 0:
// NE corner // NE corner
location_offset(beacon_loc, ORIGIN_OFFSET_NORTH + BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST + BEACON_SPACING_EAST/2); beacon_loc.offset(ORIGIN_OFFSET_NORTH + BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST + BEACON_SPACING_EAST/2);
break; break;
case 1: case 1:
// SE corner // SE corner
location_offset(beacon_loc, ORIGIN_OFFSET_NORTH - BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST + BEACON_SPACING_EAST/2); beacon_loc.offset(ORIGIN_OFFSET_NORTH - BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST + BEACON_SPACING_EAST/2);
break; break;
case 2: case 2:
// SW corner // SW corner
location_offset(beacon_loc, ORIGIN_OFFSET_NORTH - BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST - BEACON_SPACING_EAST/2); beacon_loc.offset(ORIGIN_OFFSET_NORTH - BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST - BEACON_SPACING_EAST/2);
break; break;
case 3: case 3:
// NW corner // NW corner
location_offset(beacon_loc, ORIGIN_OFFSET_NORTH + BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST - BEACON_SPACING_EAST/2); beacon_loc.offset(ORIGIN_OFFSET_NORTH + BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST - BEACON_SPACING_EAST/2);
break; break;
} }