mirror of https://github.com/ArduPilot/ardupilot
80 lines
2.4 KiB
C++
80 lines
2.4 KiB
C++
/*
|
|
* Location.h
|
|
*
|
|
*/
|
|
|
|
|
|
#ifndef LOCATION_H
|
|
#define LOCATION_H
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
class AP_AHRS_NavEKF;
|
|
class AP_Terrain;
|
|
|
|
class Location_Class : public Location
|
|
{
|
|
public:
|
|
|
|
/// enumeration of possible altitude types
|
|
enum ALT_FRAME {
|
|
ALT_FRAME_ABSOLUTE = 0,
|
|
ALT_FRAME_ABOVE_HOME = 1,
|
|
ALT_FRAME_ABOVE_ORIGIN = 2,
|
|
ALT_FRAME_ABOVE_TERRAIN = 3
|
|
};
|
|
|
|
/// constructors
|
|
Location_Class();
|
|
Location_Class(int32_t latitude, int32_t longitude, int32_t alt_in_cm, ALT_FRAME frame);
|
|
Location_Class(const Location& loc);
|
|
Location_Class(const Vector3f &ekf_offset_neu);
|
|
|
|
/// accept reference to ahrs and (indirectly) EKF
|
|
static void set_ahrs(const AP_AHRS_NavEKF* ahrs) { _ahrs = ahrs; }
|
|
static void set_terrain(AP_Terrain* terrain) { _terrain = terrain; }
|
|
|
|
// operators
|
|
Location_Class& operator=(const struct Location &loc);
|
|
|
|
// set altitude
|
|
void set_alt_cm(int32_t alt_cm, ALT_FRAME frame);
|
|
|
|
// get altitude (in cm) in the desired frame
|
|
// returns false on failure to get altitude in the desired frame which
|
|
// can only happen if the original frame or desired frame is above-terrain
|
|
bool get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) const;
|
|
|
|
// get altitude frame
|
|
ALT_FRAME get_alt_frame() const;
|
|
|
|
// converts altitude to new frame
|
|
// returns false on failure to convert which can only happen if
|
|
// the original frame or desired frame is above-terrain
|
|
bool change_alt_frame(ALT_FRAME desired_frame);
|
|
|
|
// get position as a vector from home (x,y only or x,y,z)
|
|
// return false on failure to get the vector which can only
|
|
// happen if the EKF origin has not been set yet
|
|
bool get_vector_xy_from_origin_NEU(Vector3f &vec_neu) const;
|
|
bool get_vector_from_origin_NEU(Vector3f &vec_neu) const;
|
|
|
|
// return distance in meters between two locations
|
|
float get_distance(const struct Location &loc2) const;
|
|
|
|
// extrapolate latitude/longitude given distances (in meters) north and east
|
|
void offset(float ofs_north, float ofs_east);
|
|
|
|
bool is_zero(void) { return (lat == 0 && lng == 0 && alt == 0 && options == 0); }
|
|
|
|
void zero(void) { lat = lng = alt = 0; options = 0; }
|
|
|
|
private:
|
|
static const AP_AHRS_NavEKF *_ahrs;
|
|
static AP_Terrain *_terrain;
|
|
};
|
|
|
|
#endif /* LOCATION_H */
|