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author | Thomas Gubler <thomasgubler@gmail.com> | 2012-11-11 17:35:55 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-11-11 17:35:55 +0100 |
commit | 60198e3a2da7c5507abcab7a3d032858691d024a (patch) | |
tree | 1c6c832f7b15971616ce11da4e77dcd2b0ba1a56 /apps/systemlib/geo/geo.h | |
parent | 8edf02681bc4cce3a5ee315841d14594166b6b31 (diff) | |
download | px4-firmware-60198e3a2da7c5507abcab7a3d032858691d024a.tar.gz px4-firmware-60198e3a2da7c5507abcab7a3d032858691d024a.tar.bz2 px4-firmware-60198e3a2da7c5507abcab7a3d032858691d024a.zip |
small code cleanup
Diffstat (limited to 'apps/systemlib/geo/geo.h')
-rw-r--r-- | apps/systemlib/geo/geo.h | 9 |
1 files changed, 4 insertions, 5 deletions
diff --git a/apps/systemlib/geo/geo.h b/apps/systemlib/geo/geo.h index 807e508a2..7aad79a8c 100644 --- a/apps/systemlib/geo/geo.h +++ b/apps/systemlib/geo/geo.h @@ -48,12 +48,11 @@ #include <stdbool.h> -typedef struct { - bool error; // Flag that the calculation failed +struct crosstrack_error_s { bool past_end; // Flag indicating we are past the end of the line/arc segment float distance; // Distance in meters to closest point on line/arc float bearing; // Bearing in radians to closest point on line/arc -} crosstrack_error_s; +} ; __EXPORT static void map_projection_init(double lat_0, double lon_0); @@ -67,9 +66,9 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub // -__EXPORT crosstrack_error_s get_distance_to_line(double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end); +__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); -__EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, double lat_center, double lon_center, +__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center, float radius, float arc_start_bearing, float arc_sweep); float _wrap180(float bearing); |