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AP_Declination: added get_earth_field_ga() interface 

this gives a more convenient API for getting the earth field as a
vector
This commit is contained in:
Andrew Tridgell 2019-06-01 21:01:11 +10:00
parent 49003868fe
commit be62bf32cb
2 changed files with 23 additions and 0 deletions
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16
libraries/AP_Declination/AP_Declination.cpp
View File

@ -127,3 +127,19 @@ float AP_Declination::get_declination(float latitude_deg, float longitude_deg)
return declination_deg;
}
/*
get earth field as a Vector3f in Gauss given a Location
*/
Vector3f AP_Declination::get_earth_field_ga(const Location &loc)
{
float declination_deg=0, inclination_deg=0, intensity_gauss=0;
get_mag_field_ef(loc.lat*1.0e-7f, loc.lng*1.0e-7f, intensity_gauss, declination_deg, inclination_deg);
// create earth field
Vector3f mag_ef = Vector3f(intensity_gauss, 0.0, 0.0);
Matrix3f R;
R.from_euler(0.0f, -ToRad(inclination_deg), ToRad(declination_deg));
mag_ef = R * mag_ef;
return mag_ef;
}

7
libraries/AP_Declination/AP_Declination.h
View File

@ -1,5 +1,7 @@
#pragma once
#include <AP_Common/Location.h>
/*
magnetic data derived from WMM
*/
@ -16,6 +18,11 @@ public:
*/
static bool get_mag_field_ef(float latitude_deg, float longitude_deg, float &intensity_gauss, float &declination_deg, float &inclination_deg);
/*
get earth field as a Vector3f in Gauss given a Location
*/
static Vector3f get_earth_field_ga(const Location &loc);
/*
get declination in degrees for a given latitude_deg and longitude_deg
*/