AP_Math: move get_bearing_cd to Location and rename to get_bearing_to

libraries/AP_Math/examples/location/location.cpp

@@ -76,7 +76,7 @@ static void test_one_offset(const struct Location &loc,
     hal.console->printf("location_offset took %u usec\n",
                         (unsigned)(AP_HAL::micros() - t1));
     dist2 = loc.get_distance(loc2);
-    bearing2 = get_bearing_cd(loc, loc2) * 0.01f;
+    bearing2 = loc.get_bearing_to(loc2) * 0.01f;
     float brg_error = bearing2-bearing;
     if (brg_error > 180) {
         brg_error -= 360;

libraries/AP_Math/location.cpp

@@ -30,16 +30,6 @@ float get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destina
     return norm(destination.x-origin.x,destination.y-origin.y);
 }
 
-// return bearing in centi-degrees between two locations
-int32_t get_bearing_cd(const struct Location &loc1, const struct Location &loc2)
-{
-    int32_t off_x = loc2.lng - loc1.lng;
-    const int32_t off_y = (loc2.lat - loc1.lat) / loc2.longitude_scale();
-    int32_t bearing = 9000 + atan2f(-off_y, off_x) * DEGX100;
-    if (bearing < 0) bearing += 36000;
-    return bearing;
-}
-
 // return bearing in centi-degrees between two positions
 float get_bearing_cd(const Vector3f &origin, const Vector3f &destination)
 {

libraries/AP_Math/location.h

@@ -22,9 +22,6 @@
 // return horizontal distance in centimeters between two positions
 float        get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination);
 
-// return bearing in centi-degrees between two locations
-int32_t      get_bearing_cd(const struct Location &loc1, const struct Location &loc2);
-
 // return bearing in centi-degrees between two positions
 float        get_bearing_cd(const Vector3f &origin, const Vector3f &destination);