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AP_Math: added check_latlng helper

This commit is contained in:
Tom Pittenger 2016-06-01 14:43:01 -07:00
parent 64c2510be9
commit ce9ecf9f3d
2 changed files with 19 additions and 0 deletions
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14
libraries/AP_Math/location.cpp
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@ -308,3 +308,17 @@ void wgsecef2llh(const Vector3d &ecef, Vector3d &llh) {
llh[0] = copysign(1.0, ecef[2]) * atan(S / (e_c*C));
llh[2] = (p*e_c*C + fabs(ecef[2])*S - WGS84_A*e_c*A_n) / sqrt(e_c*e_c*C*C + S*S);
}
// return true when lat and lng are within range
bool check_latlng(float lat, float lng)
{
return (fabsf(lat) <= 90) && (fabsf(lng) <= 180);
}
bool check_latlng(int32_t lat, int32_t lng)
{
return (labs(lat) <= 90*1e7) && (labs(lng) <= 180*1e7);
}
bool check_latlng(Location loc)
{
return check_latlng(loc.lat, loc.lng);
}

5
libraries/AP_Math/location.h
View File

@ -79,3 +79,8 @@ void wgsllh2ecef(const Vector3d &llh, Vector3d &ecef);
// coordinates (lat, lon, height)
void wgsecef2llh(const Vector3d &ecef, Vector3d &llh);
// return true when lat and lng are within range
bool check_latlng(float lat, float lng);
bool check_latlng(int32_t lat, int32_t lng);
bool check_latlng(Location loc);