2012-07-03 20:19:36 -03:00
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/*
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* location.cpp
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* Copyright (C) Andrew Tridgell 2011
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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2012-08-17 03:20:14 -03:00
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* this module deals with calculations involving struct Location
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2012-07-03 20:19:36 -03:00
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*/
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2015-08-11 03:28:44 -03:00
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#include <AP_HAL/AP_HAL.h>
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2012-09-18 15:08:18 -03:00
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#include <stdlib.h>
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2012-07-03 20:19:36 -03:00
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#include "AP_Math.h"
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2016-02-25 08:07:27 -04:00
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#include "location.h"
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2012-07-03 20:19:36 -03:00
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2013-08-04 21:14:33 -03:00
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float longitude_scale(const struct Location &loc)
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2012-07-03 20:19:36 -03:00
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{
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2018-09-18 06:06:30 -03:00
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float scale = cosf(loc.lat * (1.0e-7f * DEG_TO_RAD));
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2015-07-05 19:19:57 -03:00
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return constrain_float(scale, 0.01f, 1.0f);
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2012-07-03 20:19:36 -03:00
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}
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2013-04-11 09:15:49 -03:00
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// return distance in meters between two locations
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2013-08-04 21:14:33 -03:00
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float get_distance(const struct Location &loc1, const struct Location &loc2)
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2012-07-03 20:19:36 -03:00
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{
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float dlat = (float)(loc2.lat - loc1.lat);
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float dlong = ((float)(loc2.lng - loc1.lng)) * longitude_scale(loc2);
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2016-04-16 06:58:46 -03:00
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return norm(dlat, dlong) * LOCATION_SCALING_FACTOR;
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2012-07-03 20:19:36 -03:00
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}
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2013-01-26 04:04:12 -04:00
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// return distance in centimeters to between two locations
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2013-08-04 21:14:33 -03:00
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uint32_t get_distance_cm(const struct Location &loc1, const struct Location &loc2)
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2012-07-10 18:49:05 -03:00
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{
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return get_distance(loc1, loc2) * 100;
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}
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2017-12-03 17:04:30 -04:00
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// return horizontal distance between two positions in cm
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float get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination)
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{
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return norm(destination.x-origin.x,destination.y-origin.y);
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}
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2012-07-03 20:19:36 -03:00
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// return bearing in centi-degrees between two locations
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int32_t get_bearing_cd(const struct Location &loc1, const struct Location &loc2)
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{
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2013-08-04 21:14:33 -03:00
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int32_t off_x = loc2.lng - loc1.lng;
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int32_t off_y = (loc2.lat - loc1.lat) / longitude_scale(loc2);
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2017-12-03 15:44:47 -04:00
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int32_t bearing = 9000 + atan2f(-off_y, off_x) * DEGX100;
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2012-08-17 03:20:14 -03:00
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if (bearing < 0) bearing += 36000;
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return bearing;
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2012-07-03 20:19:36 -03:00
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}
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2017-12-03 17:04:30 -04:00
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// return bearing in centi-degrees between two positions
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float get_bearing_cd(const Vector3f &origin, const Vector3f &destination)
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{
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float bearing = atan2f(destination.y-origin.y, destination.x-origin.x) * DEGX100;
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if (bearing < 0) {
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bearing += 36000.0f;
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}
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return bearing;
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}
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2012-08-16 01:36:55 -03:00
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// see if location is past a line perpendicular to
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// the line between point1 and point2. If point1 is
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2012-07-03 20:19:36 -03:00
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// our previous waypoint and point2 is our target waypoint
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// then this function returns true if we have flown past
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// the target waypoint
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bool location_passed_point(const struct Location &location,
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const struct Location &point1,
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const struct Location &point2)
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{
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2015-01-02 19:35:55 -04:00
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return location_path_proportion(location, point1, point2) >= 1.0f;
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}
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2015-01-01 00:17:10 -04:00
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/*
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return the proportion we are along the path from point1 to
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point2, along a line parallel to point1<->point2.
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This will be less than >1 if we have passed point2
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*/
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float location_path_proportion(const struct Location &location,
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const struct Location &point1,
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const struct Location &point2)
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{
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Vector2f vec1 = location_diff(point1, point2);
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Vector2f vec2 = location_diff(point1, location);
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float dsquared = sq(vec1.x) + sq(vec1.y);
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if (dsquared < 0.001f) {
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// the two points are very close together
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2015-01-01 00:17:10 -04:00
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return 1.0f;
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}
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2015-01-02 19:35:55 -04:00
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return (vec1 * vec2) / dsquared;
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2015-01-01 00:17:10 -04:00
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}
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2012-08-10 22:56:54 -03:00
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/*
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2012-08-17 03:20:14 -03:00
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* extrapolate latitude/longitude given bearing and distance
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2013-08-12 00:14:23 -03:00
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* Note that this function is accurate to about 1mm at a distance of
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* 100m. This function has the advantage that it works in relative
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* positions, so it keeps the accuracy even when dealing with small
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* distances and floating point numbers
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2012-08-17 03:20:14 -03:00
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*/
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2013-08-04 21:14:33 -03:00
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void location_update(struct Location &loc, float bearing, float distance)
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{
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float ofs_north = cosf(radians(bearing))*distance;
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float ofs_east = sinf(radians(bearing))*distance;
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location_offset(loc, ofs_north, ofs_east);
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2012-08-10 22:56:54 -03:00
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}
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/*
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2012-08-17 03:20:14 -03:00
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* extrapolate latitude/longitude given distances north and east
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*/
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2013-08-04 21:14:33 -03:00
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void location_offset(struct Location &loc, float ofs_north, float ofs_east)
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{
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if (!is_zero(ofs_north) || !is_zero(ofs_east)) {
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2013-09-15 22:38:55 -03:00
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int32_t dlat = ofs_north * LOCATION_SCALING_FACTOR_INV;
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int32_t dlng = (ofs_east * LOCATION_SCALING_FACTOR_INV) / longitude_scale(loc);
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2013-08-04 21:14:33 -03:00
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loc.lat += dlat;
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loc.lng += dlng;
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2012-08-10 22:56:54 -03:00
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}
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}
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2013-03-28 23:13:37 -03:00
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2013-08-12 00:14:23 -03:00
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/*
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return the distance in meters in North/East plane as a N/E vector
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from loc1 to loc2
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*/
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Vector2f location_diff(const struct Location &loc1, const struct Location &loc2)
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{
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return Vector2f((loc2.lat - loc1.lat) * LOCATION_SCALING_FACTOR,
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(loc2.lng - loc1.lng) * LOCATION_SCALING_FACTOR * longitude_scale(loc1));
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}
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2017-01-30 15:05:05 -04:00
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/*
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return the distance in meters in North/East/Down plane as a N/E/D vector
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from loc1 to loc2
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*/
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Vector3f location_3d_diff_NED(const struct Location &loc1, const struct Location &loc2)
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{
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return Vector3f((loc2.lat - loc1.lat) * LOCATION_SCALING_FACTOR,
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(loc2.lng - loc1.lng) * LOCATION_SCALING_FACTOR * longitude_scale(loc1),
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(loc1.alt - loc2.alt) * 0.01f);
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}
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2015-08-24 18:52:27 -03:00
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/*
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return true if lat and lng match. Ignores altitude and options
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*/
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bool locations_are_same(const struct Location &loc1, const struct Location &loc2) {
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return (loc1.lat == loc2.lat) && (loc1.lng == loc2.lng);
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}
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2016-03-02 12:43:18 -04:00
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/*
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* convert invalid waypoint with useful data. return true if location changed
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*/
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bool location_sanitize(const struct Location &defaultLoc, struct Location &loc)
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{
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bool has_changed = false;
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// convert lat/lng=0 to mean current point
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if (loc.lat == 0 && loc.lng == 0) {
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loc.lat = defaultLoc.lat;
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loc.lng = defaultLoc.lng;
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has_changed = true;
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}
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// convert relative alt=0 to mean current alt
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if (loc.alt == 0 && loc.flags.relative_alt) {
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loc.flags.relative_alt = false;
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loc.alt = defaultLoc.alt;
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has_changed = true;
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}
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2016-04-11 18:06:03 -03:00
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// limit lat/lng to appropriate ranges
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2016-06-01 18:43:19 -03:00
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if (!check_latlng(loc)) {
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2016-04-11 18:06:03 -03:00
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loc.lat = defaultLoc.lat;
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loc.lng = defaultLoc.lng;
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has_changed = true;
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}
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2016-03-02 12:43:18 -04:00
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return has_changed;
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}
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2013-04-19 20:49:58 -03:00
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/*
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print a int32_t lat/long in decimal degrees
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*/
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void print_latlon(AP_HAL::BetterStream *s, int32_t lat_or_lon)
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{
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int32_t dec_portion, frac_portion;
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int32_t abs_lat_or_lon = labs(lat_or_lon);
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// extract decimal portion (special handling of negative numbers to ensure we round towards zero)
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dec_portion = abs_lat_or_lon / 10000000UL;
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// extract fractional portion
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frac_portion = abs_lat_or_lon - dec_portion*10000000UL;
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// print output including the minus sign
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if( lat_or_lon < 0 ) {
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2015-10-25 17:10:41 -03:00
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s->printf("-");
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2013-04-19 20:49:58 -03:00
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}
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2015-10-25 17:10:41 -03:00
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s->printf("%ld.%07ld",(long)dec_portion,(long)frac_portion);
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2013-04-19 20:49:58 -03:00
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}
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2014-04-03 19:44:56 -03:00
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2016-06-01 18:43:01 -03:00
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// return true when lat and lng are within range
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2016-06-06 17:02:56 -03:00
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bool check_lat(float lat)
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{
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return fabsf(lat) <= 90;
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}
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bool check_lng(float lng)
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{
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return fabsf(lng) <= 180;
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}
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bool check_lat(int32_t lat)
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{
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return labs(lat) <= 90*1e7;
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}
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bool check_lng(int32_t lng)
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{
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return labs(lng) <= 180*1e7;
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}
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2016-06-01 18:43:01 -03:00
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bool check_latlng(float lat, float lng)
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{
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2016-06-06 17:02:56 -03:00
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return check_lat(lat) && check_lng(lng);
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2016-06-01 18:43:01 -03:00
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}
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bool check_latlng(int32_t lat, int32_t lng)
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{
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2016-06-06 17:02:56 -03:00
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return check_lat(lat) && check_lng(lng);
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2016-06-01 18:43:01 -03:00
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}
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bool check_latlng(Location loc)
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{
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2016-06-06 17:02:56 -03:00
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return check_lat(loc.lat) && check_lng(loc.lng);
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2016-06-01 18:43:01 -03:00
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}
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