GEO: fix compile warnings

1 files changed, 10 insertions, 7 deletions

diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
index 1c8d2a2a7..f595467b3 100644
--- a/src/lib/geo/geo.c
+++ b/src/lib/geo/geo.c
@@ -362,8 +362,12 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d
 	crosstrack_error->distance = 0.0f;
 	crosstrack_error->bearing = 0.0f;
 
+	dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
+
 	// Return error if arguments are bad
-	if (lat_now == 0.0 || lon_now == 0.0 || lat_start == 0.0 || lon_start == 0.0 || lat_end == 0.0d || lon_end == 0.0d) { return return_value; }
+	if (dist_to_end < 0.1f) {
+		return ERROR;
+	}
 
 	bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
 	bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
@@ -377,7 +381,6 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d
 		return return_value;
 	}
 
-	dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
 	crosstrack_error->distance = (dist_to_end) * sinf(bearing_diff);
 
 	if (sin(bearing_diff) >= 0) {
@@ -414,10 +417,10 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
 	crosstrack_error->bearing = 0.0f;
 
 	// Return error if arguments are bad
-	if (lat_now == 0.0 || lon_now == 0.0 || lat_center == 0.0 || lon_center == 0.0 || radius == 0.0f) { return return_value; }
+	if (radius < 0.1f) { return return_value; }
 
 
-	if (arc_sweep >= 0) {
+	if (arc_sweep >= 0.0f) {
 		bearing_sector_start = arc_start_bearing;
 		bearing_sector_end = arc_start_bearing + arc_sweep;
 
@@ -463,8 +466,8 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
 
 		double start_disp_x = (double)radius * sin(arc_start_bearing);
 		double start_disp_y = (double)radius * cos(arc_start_bearing);
-		double end_disp_x = (double)radius * sin(_wrapPI((double)(arc_start_bearing + arc_sweep)));
-		double end_disp_y = (double)radius * cos(_wrapPI((double)(arc_start_bearing + arc_sweep)));
+		double end_disp_x = (double)radius * sin(_wrap_pi((double)(arc_start_bearing + arc_sweep)));
+		double end_disp_y = (double)radius * cos(_wrap_pi((double)(arc_start_bearing + arc_sweep)));
 		double lon_start = lon_now + start_disp_x / 111111.0;
 		double lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0;
 		double lon_end = lon_now + end_disp_x / 111111.0;
@@ -484,7 +487,7 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
 
 	}
 
-	crosstrack_error->bearing = _wrapPI((double)crosstrack_error->bearing);
+	crosstrack_error->bearing = _wrap_pi((double)crosstrack_error->bearing);
 	return_value = OK;
 	return return_value;
 }