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geo: fix some warnings

This commit is contained in:
Thomas Gubler 2014-08-11 15:29:59 +02:00
parent 89986cf3e5
commit 5baf9cea0d
1 changed files with 3 additions and 2 deletions
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5
src/lib/geo/geo.c
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@ -50,6 +50,7 @@
#include <math.h> #include <math.h>
#include <stdbool.h> #include <stdbool.h>
#include <string.h> #include <string.h>
#include <float.h>
#include <systemlib/err.h> #include <systemlib/err.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
@ -147,7 +148,7 @@ __EXPORT int map_projection_project(const struct map_projection_reference_s *ref
double cos_d_lon = cos(lon_rad - ref->lon_rad); double cos_d_lon = cos(lon_rad - ref->lon_rad);
double c = acos(ref->sin_lat * sin_lat + ref->cos_lat * cos_lat * cos_d_lon); double c = acos(ref->sin_lat * sin_lat + ref->cos_lat * cos_lat * cos_d_lon);
double k = (c == 0.0) ? 1.0 : (c / sin(c)); double k = (fabs(c) < DBL_EPSILON) ? 1.0 : (c / sin(c));
*x = k * (ref->cos_lat * sin_lat - ref->sin_lat * cos_lat * cos_d_lon) * CONSTANTS_RADIUS_OF_EARTH; *x = k * (ref->cos_lat * sin_lat - ref->sin_lat * cos_lat * cos_d_lon) * CONSTANTS_RADIUS_OF_EARTH;
*y = k * cos_lat * sin(lon_rad - ref->lon_rad) * CONSTANTS_RADIUS_OF_EARTH; *y = k * cos_lat * sin(lon_rad - ref->lon_rad) * CONSTANTS_RADIUS_OF_EARTH;
@ -175,7 +176,7 @@ __EXPORT int map_projection_reproject(const struct map_projection_reference_s *r
double lat_rad; double lat_rad;
double lon_rad; double lon_rad;
if (c != 0.0) { if (fabs(c) > DBL_EPSILON) {
lat_rad = asin(cos_c * ref->sin_lat + (x_rad * sin_c * ref->cos_lat) / c); lat_rad = asin(cos_c * ref->sin_lat + (x_rad * sin_c * ref->cos_lat) / c);
lon_rad = (ref->lon_rad + atan2(y_rad * sin_c, c * ref->cos_lat * cos_c - x_rad * ref->sin_lat * sin_c)); lon_rad = (ref->lon_rad + atan2(y_rad * sin_c, c * ref->cos_lat * cos_c - x_rad * ref->sin_lat * sin_c));