mirror of https://github.com/ArduPilot/ardupilot
31 lines
1003 B
C++
31 lines
1003 B
C++
#include "Sub.h"
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// position_vector.pde related utility functions
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// position vectors are Vector3f
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// .x = latitude from home in cm
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// .y = longitude from home in cm
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// .z = altitude above home in cm
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// pv_location_to_vector - convert lat/lon coordinates to a position vector
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Vector3f Sub::pv_location_to_vector(const Location& loc)
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{
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Location origin;
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if (!ahrs.get_origin(origin)) {
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origin.zero();
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}
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float alt_above_origin = pv_alt_above_origin(loc.alt); // convert alt-relative-to-home to alt-relative-to-origin
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return Vector3f((loc.lat-origin.lat) * LATLON_TO_CM, Location::diff_longitude(loc.lng,origin.lng) * LATLON_TO_CM * scaleLongDown, alt_above_origin);
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}
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// pv_alt_above_origin - convert altitude above home to altitude above EKF origin
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float Sub::pv_alt_above_origin(float alt_above_home_cm)
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{
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Location origin;
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if (!ahrs.get_origin(origin)) {
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origin.zero();
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}
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return alt_above_home_cm + (ahrs.get_home().alt - origin.alt);
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}
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