diff options
Diffstat (limited to 'apps/systemlib/geo/geo.c')
| -rw-r--r-- | apps/systemlib/geo/geo.c | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/apps/systemlib/geo/geo.c b/apps/systemlib/geo/geo.c index 789368fbd..3709feb15 100644 --- a/apps/systemlib/geo/geo.c +++ b/apps/systemlib/geo/geo.c @@ -49,19 +49,19 @@ __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next) { - double lat_now_rad = lat_now / 180.0 * M_PI; - double lon_now_rad = lon_now / 180.0 * M_PI; - double lat_next_rad = lat_next / 180.0 * M_PI; - double lon_next_rad = lon_next / 180.0 * M_PI; + double lat_now_rad = lat_now / 180.0d * M_PI; + double lon_now_rad = lon_now / 180.0d * M_PI; + double lat_next_rad = lat_next / 180.0d * M_PI; + double lon_next_rad = lon_next / 180.0d * M_PI; double d_lat = lat_next_rad - lat_now_rad; double d_lon = lon_next_rad - lon_now_rad; - double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(lat_now_rad) * cos(lat_next_rad); - double c = 2 * atan2(sqrt(a), sqrt(1 - a)); + 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 c = 2.0d * atan2(sqrt(a), sqrt(1.0d - a)); - const double radius_earth = 6371000.0; + const double radius_earth = 6371000.0d; return radius_earth * c; } |