mirror of https://github.com/ArduPilot/ardupilot
69 lines
2.5 KiB
C++
69 lines
2.5 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
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// position_vector.pde related utility functions
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// position vectors are Vector3f
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// .x = latitude from home in cm
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// .y = longitude from home in cm
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// .z = altitude above home in cm
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// pv_location_to_vector - convert lat/lon coordinates to a position vector
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Vector3f Copter::pv_location_to_vector(const Location& loc)
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{
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const struct Location &origin = inertial_nav.get_origin();
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float alt_above_origin = pv_alt_above_origin(loc.alt); // convert alt-relative-to-home to alt-relative-to-origin
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return Vector3f((loc.lat-origin.lat) * LATLON_TO_CM, (loc.lng-origin.lng) * LATLON_TO_CM * scaleLongDown, alt_above_origin);
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}
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// pv_location_to_vector_with_default - convert lat/lon coordinates to a position vector,
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// defaults to the default_posvec's lat/lon and alt if the provided lat/lon or alt are zero
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Vector3f Copter::pv_location_to_vector_with_default(const Location& loc, const Vector3f& default_posvec)
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{
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Vector3f pos = pv_location_to_vector(loc);
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// set target altitude to default if not provided
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if (loc.alt == 0) {
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pos.z = default_posvec.z;
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}
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// set target position to default if not provided
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if (loc.lat == 0 && loc.lng == 0) {
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pos.x = default_posvec.x;
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pos.y = default_posvec.y;
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}
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return pos;
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}
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// pv_alt_above_origin - convert altitude above home to altitude above EKF origin
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float Copter::pv_alt_above_origin(float alt_above_home_cm)
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{
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const struct Location &origin = inertial_nav.get_origin();
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return alt_above_home_cm + (ahrs.get_home().alt - origin.alt);
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}
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// pv_alt_above_home - convert altitude above EKF origin to altitude above home
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float Copter::pv_alt_above_home(float alt_above_origin_cm)
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{
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const struct Location &origin = inertial_nav.get_origin();
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return alt_above_origin_cm + (origin.alt - ahrs.get_home().alt);
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}
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// pv_get_bearing_cd - return bearing in centi-degrees between two positions
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float Copter::pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination)
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{
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float bearing = atan2f(destination.y-origin.y, destination.x-origin.x) * DEGX100;
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if (bearing < 0) {
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bearing += 36000;
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}
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return bearing;
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}
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// pv_get_horizontal_distance_cm - return distance between two positions in cm
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float Copter::pv_get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination)
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{
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return pythagorous2(destination.x-origin.x,destination.y-origin.y);
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}
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