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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-17 12:37:14 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-17 12:37:14 +0200 |
| commit | 5832948371866aec8f0c7f16b13869f270d36aad (patch) | |
| tree | 35e2758102d40d5923c6e0520259b14a8b6f76a3 | |
| parent | b1008842204418f5d8cd0475547ecfb8f378b4c7 (diff) | |
| download | px4-firmware-5832948371866aec8f0c7f16b13869f270d36aad.tar.gz px4-firmware-5832948371866aec8f0c7f16b13869f270d36aad.tar.bz2 px4-firmware-5832948371866aec8f0c7f16b13869f270d36aad.zip | |
geofence: lat/lon is double
types changed but the geofence implentation was not updated, this was forgotten in 58792c5ca6e42bc251dd3c92b0e79217ff5d5403
| -rw-r--r-- | src/modules/navigator/geofence.cpp | 17 |
1 files changed, 6 insertions, 11 deletions
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index 2b9ce752b..7897c7ba0 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -77,18 +77,12 @@ Geofence::~Geofence() bool Geofence::inside(const struct vehicle_global_position_s &global_position) { - double lat = global_position.lat / 1e7d; - double lon = global_position.lon / 1e7d; - - return inside(lat, lon, global_position.alt); + return inside(global_position.lat, global_position.lon, global_position.alt); } -bool Geofence::inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl) { - - double lat = global_position.lat / 1e7d; - double lon = global_position.lon / 1e7d; - - return inside(lat, lon, baro_altitude_amsl); +bool Geofence::inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl) +{ + return inside(global_position.lat, global_position.lon, baro_altitude_amsl); } bool Geofence::inside(double lat, double lon, float altitude) @@ -101,8 +95,9 @@ bool Geofence::inside(double lat, double lon, float altitude) if (!isEmpty()) { /* Vertical check */ - if (altitude > _altitude_max || altitude < _altitude_min) + if (altitude > _altitude_max || altitude < _altitude_min) { return false; + } /*Horizontal check */ /* Adaptation of algorithm originally presented as |