END_TEST
START_TEST (test_worldpos_pole_cross)
{
worldPosition
o = wp_create ('a', 12, 0, 0),
wp;
int
dist;
unsigned int
r, k, i;
hexSystem_setRadii (1, 12);
wp = wp_fromRelativeOffset (o, 12, 1, 0, 0);
assert (wp_getPole (wp) == 'c');
wp_getCoords (wp, &r, &k, &i);
assert (r == 12 && k == 4 && i == 0);
dist = wp_distance (o, wp, 12);
fail_unless (
dist == 1,
"Distance must be calculated properly across pole edges. (Expecting 1, got %d)",
dist
);
dist = wp_distance (wp, o, 12);
fail_unless (
dist == 1,
"Distance calculations must be symmetric. (Expecting 1, got %d)",
dist
);
wp_destroy (wp);
wp_destroy (o);
}
bool Copter::ModeAuto::verify_within_distance()
{
if (wp_distance() < (uint32_t)MAX(condition_value,0)) {
condition_value = 0;
return true;
}
return false;
}
