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Fixed compile error

This commit is contained in:
Lorenz Meier 2013-09-08 22:30:56 +02:00
parent a7bff9f448
commit b6a0437c7c
2 changed files with 6 additions and 10 deletions
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12
src/lib/geo/geo.c
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@ -210,7 +210,7 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub
return theta;
}
__EXPORT float get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float* vx, float* vy)
__EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float* vx, float* vy)
{
double lat_now_rad = lat_now * M_DEG_TO_RAD;
double lon_now_rad = lon_now * M_DEG_TO_RAD;
@ -221,13 +221,11 @@ __EXPORT float get_vector_to_next_waypoint(double lat_now, double lon_now, doubl
double d_lon = lon_next_rad - lon_now_rad;
/* conscious mix of double and float trig function to maximize speed and efficiency */
*vy = CONSTANTS_RADIUS_OF_EARTH * sin(d_lon) * cos(lat_next_rad)
*vx = CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon));
return theta;
*vy = CONSTANTS_RADIUS_OF_EARTH * sin(d_lon) * cos(lat_next_rad);
*vx = CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon);
}
__EXPORT float get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float* vx, float* vy)
__EXPORT void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float* vx, float* vy)
{
double lat_now_rad = lat_now * M_DEG_TO_RAD;
double lon_now_rad = lon_now * M_DEG_TO_RAD;
@ -240,8 +238,6 @@ __EXPORT float get_vector_to_next_waypoint_fast(double lat_now, double lon_now,
/* conscious mix of double and float trig function to maximize speed and efficiency */
*vy = CONSTANTS_RADIUS_OF_EARTH * d_lon;
*vx = CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad);
return theta;
}
// Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>

4
src/lib/geo/geo.h
View File

@ -112,9 +112,9 @@ __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, dou
*/
__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
__EXPORT float get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float* vx, float* vy);
__EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float* vx, float* vy);
__EXPORT float get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float* vx, float* vy);
__EXPORT void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float* vx, float* vy);
__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);