mirror of https://github.com/ArduPilot/ardupilot
244 lines
7.7 KiB
C++
244 lines
7.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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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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* this module deals with calculations involving struct Location
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*/
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#include <AP_HAL.h>
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#include <stdlib.h>
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#include "AP_Math.h"
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// radius of earth in meters
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#define RADIUS_OF_EARTH 6378100
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// scaling factor from 1e-7 degrees to meters at equater
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// == 1.0e-7 * DEG_TO_RAD * RADIUS_OF_EARTH
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#define LOCATION_SCALING_FACTOR 0.011131884502145034f
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// inverse of LOCATION_SCALING_FACTOR
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#define LOCATION_SCALING_FACTOR_INV 89.83204953368922f
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float longitude_scale(const struct Location &loc)
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{
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static int32_t last_lat;
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static float scale = 1.0;
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if (labs(last_lat - loc.lat) < 100000) {
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// we are within 0.01 degrees (about 1km) of the
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// same latitude. We can avoid the cos() and return
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// the same scale factor.
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return scale;
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}
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scale = cosf(loc.lat * 1.0e-7f * DEG_TO_RAD);
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last_lat = loc.lat;
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return scale;
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}
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// return distance in meters between two locations
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float get_distance(const struct Location &loc1, const struct Location &loc2)
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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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return pythagorous2(dlat, dlong) * LOCATION_SCALING_FACTOR;
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}
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// return distance in centimeters to between two locations
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uint32_t get_distance_cm(const struct Location &loc1, const struct Location &loc2)
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{
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return get_distance(loc1, loc2) * 100;
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}
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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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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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int32_t bearing = 9000 + atan2f(-off_y, off_x) * 5729.57795f;
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if (bearing < 0) bearing += 36000;
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return bearing;
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}
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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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// 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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// the 3 points form a triangle. If the angle between lines
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// point1->point2 and location->point2 is greater than 90
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// degrees then we have passed the waypoint
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Vector2f loc1(location.lat, location.lng);
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Vector2f pt1(point1.lat, point1.lng);
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Vector2f pt2(point2.lat, point2.lng);
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float angle = (loc1 - pt2).angle(pt1 - pt2);
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if (isinf(angle)) {
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// two of the points are co-located.
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// If location is equal to point2 then say we have passed the
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// waypoint, otherwise say we haven't
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if (get_distance(location, point2) == 0) {
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return true;
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}
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return false;
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} else if (angle == 0) {
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// if we are exactly on the line between point1 and
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// point2 then we are past the waypoint if the
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// distance from location to point1 is greater then
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// the distance from point2 to point1
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return get_distance(location, point1) >
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get_distance(point2, point1);
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}
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if (degrees(angle) > 90) {
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return true;
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}
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return false;
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}
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/*
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* extrapolate latitude/longitude given bearing and distance
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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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*/
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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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}
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/*
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* extrapolate latitude/longitude given distances north and east
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* This function costs about 80 usec on an AVR2560
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*/
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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 (ofs_north != 0 || ofs_east != 0) {
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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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loc.lat += dlat;
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loc.lng += dlng;
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}
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}
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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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/*
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wrap an angle in centi-degrees to 0..35999
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*/
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int32_t wrap_360_cd(int32_t error)
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{
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if (error > 360000 || error < -360000) {
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// for very large numbers use modulus
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error = error % 36000;
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}
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while (error >= 36000) error -= 36000;
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while (error < 0) error += 36000;
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return error;
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}
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/*
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wrap an angle in centi-degrees to -18000..18000
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*/
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int32_t wrap_180_cd(int32_t error)
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{
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if (error > 360000 || error < -360000) {
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// for very large numbers use modulus
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error = error % 36000;
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}
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while (error > 18000) { error -= 36000; }
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while (error < -18000) { error += 36000; }
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return error;
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}
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/*
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wrap an angle in centi-degrees to 0..35999
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*/
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float wrap_360_cd_float(float angle)
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{
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if (angle >= 72000.0f || angle < -36000.0f) {
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// for larger number use fmodulus
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angle = fmod(angle, 36000.0f);
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}
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if (angle >= 36000.0f) angle -= 36000.0f;
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if (angle < 0.0f) angle += 36000.0f;
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return angle;
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}
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/*
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wrap an angle in centi-degrees to -18000..18000
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*/
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float wrap_180_cd_float(float angle)
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{
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if (angle > 54000.0f || angle < -54000.0f) {
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// for large numbers use modulus
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angle = fmod(angle,36000.0f);
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}
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if (angle > 18000.0f) { angle -= 36000.0f; }
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if (angle < -18000.0f) { angle += 36000.0f; }
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return angle;
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}
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/*
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wrap an angle defined in radians to -PI ~ PI (equivalent to +- 180 degrees)
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*/
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float wrap_PI(float angle_in_radians)
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{
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if (angle_in_radians > 10*PI || angle_in_radians < -10*PI) {
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// for very large numbers use modulus
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angle_in_radians = fmodf(angle_in_radians, 2*PI);
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}
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while (angle_in_radians > PI) angle_in_radians -= 2*PI;
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while (angle_in_radians < -PI) angle_in_radians += 2*PI;
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return angle_in_radians;
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}
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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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s->printf_P(PSTR("-"));
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}
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s->printf_P(PSTR("%ld.%07ld"),(long)dec_portion,(long)frac_portion);
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}
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