mirror of https://github.com/ArduPilot/ardupilot
24 lines
764 B
C++
24 lines
764 B
C++
#include "Copter.h"
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// Position vectors 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_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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