mirror of https://github.com/ArduPilot/ardupilot
60 lines
2.1 KiB
C
60 lines
2.1 KiB
C
#pragma once
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#include <inttypes.h>
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#include "vector2.h"
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#include "vector3.h"
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#include <AP_Common/Location.h>
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// scaling factor from 1e-7 degrees to meters at equator
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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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/*
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* LOCATION
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*/
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// return horizontal distance in centimeters between two positions
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float get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination);
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// return bearing in centi-degrees between two positions
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float get_bearing_cd(const Vector3f &origin, const Vector3f &destination);
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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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return the proportion we are along the path from point1 to
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point2. This will be less than >1 if we have passed point2
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*/
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float location_path_proportion(const struct Location &location,
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const struct Location &point1,
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const struct Location &point2);
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// Converts from WGS84 geodetic coordinates (lat, lon, height)
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// into WGS84 Earth Centered, Earth Fixed (ECEF) coordinates
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// (X, Y, Z)
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void wgsllh2ecef(const Vector3d &llh, Vector3d &ecef);
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// Converts from WGS84 Earth Centered, Earth Fixed (ECEF)
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// coordinates (X, Y, Z), into WHS84 geodetic
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// coordinates (lat, lon, height)
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void wgsecef2llh(const Vector3d &ecef, Vector3d &llh);
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// return true when lat and lng are within range
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bool check_lat(float lat);
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bool check_lng(float lng);
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bool check_lat(int32_t lat);
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bool check_lng(int32_t lng);
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bool check_latlng(float lat, float lng);
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bool check_latlng(int32_t lat, int32_t lng);
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