diff options
Diffstat (limited to 'src/modules/systemlib/geo/geo.c')
| -rw-r--r-- | src/modules/systemlib/geo/geo.c | 5 |
1 files changed, 2 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) |