From 58cd9361cbe985f0a6aa99c0f1505eddc22398f6 Mon Sep 17 00:00:00 2001 From: Pierre Kancir Date: Fri, 5 Apr 2019 08:11:27 +0200 Subject: [PATCH] AP_Terrain: move location_update to Location and rename to offset_bearing --- libraries/AP_Terrain/AP_Terrain.cpp | 2 +- libraries/AP_Terrain/AP_Terrain.h | 1 + libraries/AP_Terrain/TerrainMission.cpp | 2 +- 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Terrain/AP_Terrain.cpp b/libraries/AP_Terrain/AP_Terrain.cpp index d314e688ab..f4cb15e884 100644 --- a/libraries/AP_Terrain/AP_Terrain.cpp +++ b/libraries/AP_Terrain/AP_Terrain.cpp @@ -271,7 +271,7 @@ float AP_Terrain::lookahead(float bearing, float distance, float climb_ratio) // check for terrain at grid spacing intervals while (distance > 0) { - location_update(loc, bearing, grid_spacing); + loc.offset_bearing(bearing, grid_spacing); climb += climb_ratio * grid_spacing; distance -= grid_spacing; float height; diff --git a/libraries/AP_Terrain/AP_Terrain.h b/libraries/AP_Terrain/AP_Terrain.h index c373105034..2e5173a3d6 100644 --- a/libraries/AP_Terrain/AP_Terrain.h +++ b/libraries/AP_Terrain/AP_Terrain.h @@ -17,6 +17,7 @@ #include #include #include +#include #if (HAL_OS_POSIX_IO || HAL_OS_FATFS_IO) && defined(HAL_BOARD_TERRAIN_DIRECTORY) #define AP_TERRAIN_AVAILABLE 1 diff --git a/libraries/AP_Terrain/TerrainMission.cpp b/libraries/AP_Terrain/TerrainMission.cpp index ffb2b2aa98..3ad69e3c90 100644 --- a/libraries/AP_Terrain/TerrainMission.cpp +++ b/libraries/AP_Terrain/TerrainMission.cpp @@ -82,7 +82,7 @@ void AP_Terrain::update_mission_data(void) // spacings away at 45, 135, 225 and 315 degrees, and the // point itself if (next_mission_pos != 4) { - location_update(cmd.content.location, 45+90*next_mission_pos, grid_spacing.get() * 10); + cmd.content.location.offset_bearing(45+90*next_mission_pos, grid_spacing.get() * 10); } // we have a mission command to check