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geo: Fix a series of warnings, some which actually pointed to real issues

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Lorenz Meier
2014-07-01 09:50:48 +02:00
parent efc992b4d9
commit 34c13df3dd
2 changed files with 14 additions and 15 deletions
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src/lib/geo/geo.c
+11 -12
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -49,14 +49,18 @@
#include <stdio.h>
#include <math.h>
#include <stdbool.h>
#include <string.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
/*
* Azimuthal Equidistant Projection
* formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html
*/
static struct map_projection_reference_s mp_ref = {0};
static struct globallocal_converter_reference_s gl_ref = {0};
static struct map_projection_reference_s mp_ref = {0.0, 0.0, 0.0, 0.0, false, 0};
static struct globallocal_converter_reference_s gl_ref = {0.0f, false};
__EXPORT bool map_projection_global_initialized()
{
@@ -80,7 +84,7 @@ __EXPORT uint64_t map_projection_timestamp(const struct map_projection_reference
__EXPORT int map_projection_global_init(double lat_0, double lon_0, uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
{
if (strcmp("commander", getprogname() == 0)) {
if (strcmp("commander", getprogname()) == 0) {
return map_projection_init_timestamped(&mp_ref, lat_0, lon_0, timestamp);
} else {
return -1;
@@ -103,7 +107,7 @@ __EXPORT int map_projection_init_timestamped(struct map_projection_reference_s *
__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
{
map_projection_init_timestamped(ref, lat_0, lon_0, hrt_absolute_time());
return map_projection_init_timestamped(ref, lat_0, lon_0, hrt_absolute_time());
}
__EXPORT int map_projection_global_reference(double *ref_lat_rad, double *ref_lon_rad)
@@ -153,22 +157,17 @@ __EXPORT int map_projection_project(const struct map_projection_reference_s *ref
__EXPORT int map_projection_global_reproject(float x, float y, double *lat, double *lon)
{
map_projection_reproject(&mp_ref, x, y, lat, lon);
return map_projection_reproject(&mp_ref, x, y, lat, lon);
}
__EXPORT int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon)
{
<<<<<<< HEAD
if (!map_projection_initialized(ref)) {
return -1;
}
float x_rad = x / CONSTANTS_RADIUS_OF_EARTH;
float y_rad = y / CONSTANTS_RADIUS_OF_EARTH;
=======
double x_rad = x / CONSTANTS_RADIUS_OF_EARTH;
double y_rad = y / CONSTANTS_RADIUS_OF_EARTH;
>>>>>>> 48f4a1e5cd6ef653b466eb68c1073fb47cbefbd7
double c = sqrtf(x_rad * x_rad + y_rad * y_rad);
double sin_c = sin(c);
double cos_c = cos(c);
@@ -210,7 +209,7 @@ __EXPORT int map_projection_global_getref(double *lat_0, double *lon_0)
}
__EXPORT int globallocalconverter_init(double lat_0, double lon_0, float alt_0, uint64_t timestamp)
{
if (strcmp("commander", getprogname() == 0)) {
if (strcmp("commander", getprogname()) == 0) {
gl_ref.alt = alt_0;
if (!map_projection_global_init(lat_0, lon_0, timestamp))
{
src/lib/geo/geo.h
+3 -3
View File
@@ -86,7 +86,7 @@ struct globallocal_converter_reference_s {
* Checks if global projection was initialized
* @return true if map was initialized before, false else
*/
__EXPORT bool map_projection_global_initialized();
__EXPORT bool map_projection_global_initialized(void);
/**
* Checks if projection given as argument was initialized
@@ -98,7 +98,7 @@ __EXPORT bool map_projection_initialized(const struct map_projection_reference_s
* Get the timestamp of the global map projection
* @return the timestamp of the map_projection
*/
__EXPORT uint64_t map_projection_global_timestamp();
__EXPORT uint64_t map_projection_global_timestamp(void);
/**
* Get the timestamp of the map projection given by the argument
@@ -209,7 +209,7 @@ __EXPORT int globallocalconverter_init(double lat_0, double lon_0, float alt_0,
* Checks if globallocalconverter was initialized
* @return true if map was initialized before, false else
*/
__EXPORT bool globallocalconverter_initialized();
__EXPORT bool globallocalconverter_initialized(void);
/**
* Convert from global position coordinates to local position coordinates using the global reference