mirror of https://github.com/ArduPilot/ardupilot
130 lines
3.9 KiB
C
130 lines
3.9 KiB
C
#pragma once
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#include <cmath>
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#include <AP_HAL/AP_HAL_Boards.h>
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#ifdef M_PI
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# undef M_PI
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#endif
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#define M_PI (3.141592653589793238462643383279502884)
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#ifdef M_PI_2
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# undef M_PI_2
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#endif
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#define M_PI_2 (M_PI / 2)
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#define M_GOLDEN 1.6180339f
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#define M_2PI (M_PI * 2)
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// MATH_CHECK_INDEXES modifies some objects (e.g. SoloGimbalEKF) to
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// include more debug information. It is also used by some functions
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// to add extra code for debugging purposes. If you wish to activate
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// this, do it here or as part of the top-level Makefile -
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// e.g. Tools/Replay/Makefile
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#ifndef MATH_CHECK_INDEXES
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#define MATH_CHECK_INDEXES 0
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#endif
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#define DEG_TO_RAD (M_PI / 180.0f)
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#define RAD_TO_DEG (180.0f / M_PI)
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// Centi-degrees to radians
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#define DEGX100 5729.57795f
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// GPS Specific double precision conversions
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// The precision here does matter when using the wsg* functions for converting
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// between LLH and ECEF coordinates.
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#ifdef ALLOW_DOUBLE_MATH_FUNCTIONS
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static const double DEG_TO_RAD_DOUBLE = asin(1) / 90;
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static const double RAD_TO_DEG_DOUBLE = 1 / DEG_TO_RAD_DOUBLE;
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#endif
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#define RadiansToCentiDegrees(x) (static_cast<float>(x) * RAD_TO_DEG * static_cast<float>(100))
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#define CentiDegreesToRadians(x) (static_cast<float>(x) * DEG_TO_RAD * 0.01f)
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// acceleration due to gravity in m/s/s
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#define GRAVITY_MSS 9.80665f
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// radius of earth in meters
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#define RADIUS_OF_EARTH 6378100
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// convert a longitude or latitude point to meters or centimeters.
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// Note: this does not include the longitude scaling which is dependent upon location
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#define LATLON_TO_M 0.011131884502145034
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#define LATLON_TO_M_INV 89.83204953368922
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#define LATLON_TO_CM 1.1131884502145034
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// Semi-major axis of the Earth, in meters.
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static const double WGS84_A = 6378137.0;
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//Inverse flattening of the Earth
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static const double WGS84_IF = 298.257223563;
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// The flattening of the Earth
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static const double WGS84_F = ((double)1.0 / WGS84_IF);
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// Semi-minor axis of the Earth in meters
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static const double WGS84_B = (WGS84_A * (1 - WGS84_F));
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// Eccentricity of the Earth
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#ifdef ALLOW_DOUBLE_MATH_FUNCTIONS
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static const double WGS84_E = (sqrt(2 * WGS84_F - WGS84_F * WGS84_F));
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#endif
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#define C_TO_KELVIN(temp) (temp + 273.15f)
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#define KELVIN_TO_C(temp) (temp - 273.15f)
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#define F_TO_C(temp) ((temp - 32) * 5/9)
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#define F_TO_KELVIN(temp) C_TO_KELVIN(F_TO_C(temp))
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#define C_TO_F(temp) ((temp * 9/5) + 32)
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#define M_PER_SEC_TO_KNOTS 1.94384449f
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#define KNOTS_TO_M_PER_SEC (1/M_PER_SEC_TO_KNOTS)
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#define KM_PER_HOUR_TO_M_PER_SEC 0.27777778f
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// Gas Constant is from Aerodynamics for Engineering Students, Third Edition, E.L.Houghton and N.B.Carruthers
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#define ISA_GAS_CONSTANT 287.26f
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#define ISA_LAPSE_RATE 0.0065f
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// Standard Sea Level values
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// Ref: https://en.wikipedia.org/wiki/Standard_sea_level
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#define SSL_AIR_DENSITY 1.225f // kg/m^3
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#define SSL_AIR_PRESSURE 101325.01576f // Pascal
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#define SSL_AIR_TEMPERATURE 288.15f // K
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#define INCH_OF_H2O_TO_PASCAL 248.84f
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#define UTESLA_TO_MGAUSS 10.0f // uT to mGauss conversion
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#define NTESLA_TO_MGAUSS 0.01f // nT to mGauss conversion
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/*
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use AP_ prefix to prevent conflict with OS headers, such as NuttX
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clock.h
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*/
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#define AP_NSEC_PER_SEC 1000000000ULL
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#define AP_NSEC_PER_USEC 1000ULL
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#define AP_USEC_PER_SEC 1000000ULL
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#define AP_USEC_PER_MSEC 1000ULL
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#define AP_MSEC_PER_SEC 1000ULL
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#define AP_SEC_PER_HOUR (3600ULL)
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#define AP_MSEC_PER_HOUR (AP_SEC_PER_HOUR * AP_MSEC_PER_SEC)
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#define AP_SEC_PER_WEEK (7ULL * 86400ULL)
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#define AP_MSEC_PER_WEEK (AP_SEC_PER_WEEK * AP_MSEC_PER_SEC)
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// speed and distance conversions
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#define KNOTS_TO_METERS_PER_SECOND 0.51444
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#define FEET_TO_METERS 0.3048
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#define METRES_TO_FEET 3.280839895013123
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// Convert amps milliseconds to milliamp hours
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// Amp.millisec to milliAmp.hour = 1/1E3(ms->s) * 1/3600(s->hr) * 1000(A->mA)
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#define AMS_TO_MAH 0.000277777778f
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// Amps microseconds to milliamp hours
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#define AUS_TO_MAH 0.0000002778f
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// kg/m^3 to g/cm^3
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#define KG_PER_M3_TO_G_PER_CM3(x) (0.001 * x)
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