Merged master

2 files changed, 18 insertions, 3 deletions

diff --git a/src/modules/systemlib/geo/geo.c b/src/modules/systemlib/geo/geo.c
index 6746e8ff3..6463e6489 100644
--- a/src/modules/systemlib/geo/geo.c
+++ b/src/modules/systemlib/geo/geo.c
@@ -185,12 +185,11 @@ __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, dou
 	double d_lat = lat_next_rad - lat_now_rad;
 	double d_lon = lon_next_rad - lon_now_rad;
 
-	double a = sin(d_lat / 2.0d) * sin(d_lat / 2.0) + sin(d_lon / 2.0d) * sin(d_lon / 2.0d) * cos(lat_now_rad) * cos(lat_next_rad);
+	double a = sin(d_lat / 2.0d) * sin(d_lat / 2.0d) + sin(d_lon / 2.0d) * sin(d_lon / 2.0d) * cos(lat_now_rad) * cos(lat_next_rad);
 	double c = 2.0d * atan2(sqrt(a), sqrt(1.0d - a));
 
 	const double radius_earth = 6371000.0d;
-
-	return radius_earth * c;
+	return radius_earth * c; 
 }
 
 __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
diff --git a/src/modules/systemlib/geo/geo.h b/src/modules/systemlib/geo/geo.h
index 0c0b5c533..84097b49f 100644
--- a/src/modules/systemlib/geo/geo.h
+++ b/src/modules/systemlib/geo/geo.h
@@ -82,8 +82,24 @@ __EXPORT void map_projection_project(double lat, double lon, float *x, float *y)
  */
 __EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon);
 
+/**
+ * Returns the distance to the next waypoint in meters.
+ *
+ * @param lat_now current position in degrees (47.1234567°, not 471234567°)
+ * @param lon_now current position in degrees (8.1234567°, not 81234567°)
+ * @param lat_next next waypoint position in degrees (47.1234567°, not 471234567°)
+ * @param lon_next next waypoint position in degrees (8.1234567°, not 81234567°)
+ */
 __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
 
+/**
+ * Returns the bearing to the next waypoint in radians.
+ *
+ * @param lat_now current position in degrees (47.1234567°, not 471234567°)
+ * @param lon_now current position in degrees (8.1234567°, not 81234567°)
+ * @param lat_next next waypoint position in degrees (47.1234567°, not 471234567°)
+ * @param lon_next next waypoint position in degrees (8.1234567°, not 81234567°)
+ */
 __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
 
 __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);