ArduPlane: use past_interval_finish_line and line_path_proportion from Location

ArduPlane/ArduPlane.cpp

@@ -469,7 +469,7 @@ void Plane::update_navigation()
     case Mode::Number::RTL:
         if (quadplane.available() && quadplane.rtl_mode == 1 &&
             (nav_controller->reached_loiter_target() ||
-             location_passed_point(current_loc, prev_WP_loc, next_WP_loc) ||
+             current_loc.past_interval_finish_line(prev_WP_loc, next_WP_loc) ||
              auto_state.wp_distance < MAX(qrtl_radius, quadplane.stopping_distance())) &&
             AP_HAL::millis() - last_mode_change_ms > 1000) {
             /*
@@ -588,7 +588,7 @@ void Plane::update_alt()
     if (auto_throttle_mode && !throttle_suppressed) {        
 
         float distance_beyond_land_wp = 0;
-        if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND && location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
+        if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND && current_loc.past_interval_finish_line(prev_WP_loc, next_WP_loc)) {
             distance_beyond_land_wp = current_loc.get_distance(next_WP_loc);
         }
 

ArduPlane/altitude.cpp

@@ -45,7 +45,7 @@ void Plane::adjust_altitude_target()
         // altitude target
         set_target_altitude_location(next_WP_loc);
     } else if (target_altitude.offset_cm != 0 && 
-               !location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
+               !current_loc.past_interval_finish_line(prev_WP_loc, next_WP_loc)) {
         // control climb/descent rate
         set_target_altitude_proportion(next_WP_loc, 1.0f-auto_state.wp_proportion);
 
@@ -66,8 +66,7 @@ void Plane::setup_glide_slope(void)
     // establish the distance we are travelling to the next waypoint,
     // for calculating out rate of change of altitude
     auto_state.wp_distance = current_loc.get_distance(next_WP_loc);
-    auto_state.wp_proportion = location_path_proportion(current_loc, 
+    auto_state.wp_proportion = current_loc.line_path_proportion(prev_WP_loc, next_WP_loc);
-                                                        prev_WP_loc, next_WP_loc);
     SpdHgt_Controller->set_path_proportion(auto_state.wp_proportion);
     update_flight_stage();
 

ArduPlane/commands.cpp

@@ -50,7 +50,7 @@ void Plane::set_next_WP(const struct Location &loc)
     // past the waypoint when we start on a leg, then use the current
     // location as the previous waypoint, to prevent immediately
     // considering the waypoint complete
-    if (location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
+    if (current_loc.past_interval_finish_line(prev_WP_loc, next_WP_loc)) {
         gcs().send_text(MAV_SEVERITY_NOTICE, "Resetting previous waypoint");
         prev_WP_loc = current_loc;
     }

ArduPlane/commands_logic.cpp

@@ -617,7 +617,7 @@ bool Plane::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
     // If override with p3 - then this is not used as it will overfly badly
     if (g.waypoint_max_radius > 0 &&
         auto_state.wp_distance > (uint16_t)g.waypoint_max_radius) {
-        if (location_passed_point(current_loc, prev_WP_loc, flex_next_WP_loc)) {
+        if (current_loc.past_interval_finish_line(prev_WP_loc, flex_next_WP_loc)) {
             // this is needed to ensure completion of the waypoint
             if (cmd_passby == 0) {
                 prev_WP_loc = current_loc;
@@ -644,7 +644,7 @@ bool Plane::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
 	}
 
     // have we flown past the waypoint?
-    if (location_passed_point(current_loc, prev_WP_loc, flex_next_WP_loc)) {
+    if (current_loc.past_interval_finish_line(prev_WP_loc, flex_next_WP_loc)) {
         gcs().send_text(MAV_SEVERITY_INFO, "Passed waypoint #%i dist %um",
                           (unsigned)mission.get_current_nav_cmd().index,
                           (unsigned)current_loc.get_distance(flex_next_WP_loc));
@@ -1038,7 +1038,7 @@ bool Plane::verify_landing_vtol_approach(const AP_Mission::Mission_Command &cmd)
                 // check if we should move on to the next waypoint
                 Location breakout_loc = cmd.content.location;
                 breakout_loc.offset_bearing(vtol_approach_s.approach_direction_deg + 180, quadplane.stopping_distance());
-                if(location_passed_point(current_loc, start, breakout_loc)) {
+                if(current_loc.past_interval_finish_line(start, breakout_loc)) {
                     vtol_approach_s.approach_stage = VTOL_LANDING;
                     quadplane.do_vtol_land(cmd);
                     // fallthrough

ArduPlane/navigation.cpp

@@ -87,8 +87,7 @@ void Plane::navigate()
     // waypoint distance from plane
     // ----------------------------
     auto_state.wp_distance = current_loc.get_distance(next_WP_loc);
-    auto_state.wp_proportion = location_path_proportion(current_loc, 
+    auto_state.wp_proportion = current_loc.line_path_proportion(prev_WP_loc, next_WP_loc);
-                                                        prev_WP_loc, next_WP_loc);
     SpdHgt_Controller->set_path_proportion(auto_state.wp_proportion);
 
     // update total loiter angle

ArduPlane/quadplane.cpp

@@ -2169,8 +2169,7 @@ void QuadPlane::vtol_position_controller(void)
             float target_altitude = plane.next_WP_loc.alt;
             if (poscontrol.slow_descent) {
                 // gradually descend as we approach target
-                plane.auto_state.wp_proportion = location_path_proportion(plane.current_loc, 
+                plane.auto_state.wp_proportion = plane.current_loc.line_path_proportion(plane.prev_WP_loc, plane.next_WP_loc);
-                                                                          plane.prev_WP_loc, plane.next_WP_loc);
                 target_altitude = linear_interpolate(plane.prev_WP_loc.alt,
                                                      plane.next_WP_loc.alt,
                                                      plane.auto_state.wp_proportion,