mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.2 KiB
C
78 lines
2.2 KiB
C
#pragma once
|
|
|
|
#include <cmath>
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#ifdef M_PI
|
|
# undef M_PI
|
|
#endif
|
|
#define M_PI (3.141592653589793f)
|
|
|
|
#ifdef M_PI_2
|
|
# undef M_PI_2
|
|
#endif
|
|
#define M_PI_2 (M_PI / 2)
|
|
|
|
#define M_GOLDEN 1.6180339f
|
|
|
|
#define M_2PI (M_PI * 2)
|
|
|
|
// MATH_CHECK_INDEXES modifies some objects (e.g. SoloGimbalEKF) to
|
|
// include more debug information. It is also used by some functions
|
|
// to add extra code for debugging purposes. If you wish to activate
|
|
// this, do it here or as part of the top-level Makefile -
|
|
// e.g. Tools/Replay/Makefile
|
|
#ifndef MATH_CHECK_INDEXES
|
|
#define MATH_CHECK_INDEXES 0
|
|
#endif
|
|
|
|
#define DEG_TO_RAD (M_PI / 180.0f)
|
|
#define RAD_TO_DEG (180.0f / M_PI)
|
|
|
|
// GPS Specific double precision conversions
|
|
// The precision here does matter when using the wsg* functions for converting
|
|
// between LLH and ECEF coordinates.
|
|
static const double DEG_TO_RAD_DOUBLE = asin(1) / 90;
|
|
static const double RAD_TO_DEG_DOUBLE = 1 / DEG_TO_RAD_DOUBLE;
|
|
|
|
#define RadiansToCentiDegrees(x) (static_cast<float>(x) * RAD_TO_DEG * static_cast<float>(100))
|
|
|
|
// acceleration due to gravity in m/s/s
|
|
#define GRAVITY_MSS 9.80665f
|
|
|
|
// radius of earth in meters
|
|
#define RADIUS_OF_EARTH 6378100
|
|
|
|
// convert a longitude or latitude point to meters or centimeteres.
|
|
// Note: this does not include the longitude scaling which is dependent upon location
|
|
#define LATLON_TO_M 0.01113195f
|
|
#define LATLON_TO_CM 1.113195f
|
|
|
|
// Semi-major axis of the Earth, in meters.
|
|
static const double WGS84_A = 6378137.0;
|
|
|
|
//Inverse flattening of the Earth
|
|
static const double WGS84_IF = 298.257223563;
|
|
|
|
// The flattening of the Earth
|
|
static const double WGS84_F = ((double)1.0 / WGS84_IF);
|
|
|
|
// Semi-minor axis of the Earth in meters
|
|
static const double WGS84_B = (WGS84_A * (1 - WGS84_F));
|
|
|
|
// Eccentricity of the Earth
|
|
static const double WGS84_E = (sqrt(2 * WGS84_F - WGS84_F * WGS84_F));
|
|
|
|
/*
|
|
use AP_ prefix to prevent conflict with OS headers, such as NuttX
|
|
clock.h
|
|
*/
|
|
#define AP_NSEC_PER_SEC 1000000000ULL
|
|
#define AP_NSEC_PER_USEC 1000ULL
|
|
#define AP_USEC_PER_SEC 1000000ULL
|
|
#define AP_USEC_PER_MSEC 1000ULL
|
|
#define AP_MSEC_PER_SEC 1000ULL
|
|
#define AP_SEC_PER_WEEK (7ULL * 86400ULL)
|
|
#define AP_MSEC_PER_WEEK (AP_SEC_PER_WEEK * AP_MSEC_PER_SEC)
|