mirror of https://github.com/ArduPilot/ardupilot
45 lines
1.5 KiB
C++
45 lines
1.5 KiB
C++
#pragma once
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#include <AP_Common/Location.h>
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/*
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magnetic data derived from WMM
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*/
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class AP_Declination
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{
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public:
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/*
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* Calculates the magnetic intensity, declination and inclination at a given WGS-84 latitude and longitude.
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* Assumes a WGS-84 height of zero
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* latitude and longitude have units of degrees
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* declination and inclination are returned in degrees
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* intensity is returned in Gauss
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* Boolean returns false if latitude and longitude are outside the valid input range of +-60 latitude and +-180 longitude
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*/
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static bool get_mag_field_ef(float latitude_deg, float longitude_deg, float &intensity_gauss, float &declination_deg, float &inclination_deg);
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/*
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get earth field as a Vector3f in Gauss given a Location
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*/
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static Vector3f get_earth_field_ga(const Location &loc);
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/*
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get declination in degrees for a given latitude_deg and longitude_deg
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*/
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static float get_declination(float latitude_deg, float longitude_deg);
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private:
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static const float SAMPLING_RES;
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static const float SAMPLING_MIN_LAT;
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static const float SAMPLING_MAX_LAT;
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static const float SAMPLING_MIN_LON;
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static const float SAMPLING_MAX_LON;
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static const uint32_t LAT_TABLE_SIZE = 19;
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static const uint32_t LON_TABLE_SIZE = 37;
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static const float declination_table[LAT_TABLE_SIZE][LON_TABLE_SIZE];
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static const float inclination_table[LAT_TABLE_SIZE][LON_TABLE_SIZE];
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static const float intensity_table[LAT_TABLE_SIZE][LON_TABLE_SIZE];
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};
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