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geofence: lat/lon is double

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types changed but the geofence implentation was not updated, this was forgotten in 58792c5ca6
This commit is contained in:
Thomas Gubler
2014-08-17 12:37:14 +02:00
parent b100884220
commit 5832948371
1 changed files with 6 additions and 11 deletions
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src/modules/navigator/geofence.cpp
+6 -11
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@@ -77,18 +77,12 @@ Geofence::~Geofence()
bool Geofence::inside(const struct vehicle_global_position_s &global_position)
{
double lat = global_position.lat / 1e7d;
double lon = global_position.lon / 1e7d;
return inside(lat, lon, global_position.alt);
return inside(global_position.lat, global_position.lon, global_position.alt);
}
bool Geofence::inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl) {
double lat = global_position.lat / 1e7d;
double lon = global_position.lon / 1e7d;
return inside(lat, lon, baro_altitude_amsl);
bool Geofence::inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl)
{
return inside(global_position.lat, global_position.lon, baro_altitude_amsl);
}
bool Geofence::inside(double lat, double lon, float altitude)
@@ -101,8 +95,9 @@ bool Geofence::inside(double lat, double lon, float altitude)
if (!isEmpty()) {
/* Vertical check */
if (altitude > _altitude_max || altitude < _altitude_min)
if (altitude > _altitude_max || altitude < _altitude_min) {
return false;
}
/*Horizontal check */
/* Adaptation of algorithm originally presented as