mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.7 KiB
Plaintext
51 lines
1.7 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// position_vector.pde related utility functions
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// position vectors are Vector2f
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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_latlon_to_vector - convert lat/lon coordinates to a position vector
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Vector3f pv_latlon_to_vector(int32_t lat, int32_t lon, int32_t alt)
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{
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Vector3f tmp((lat-home.lat) * LATLON_TO_CM, (lon-home.lng) * LATLON_TO_CM * scaleLongDown, alt);
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return tmp;
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}
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// pv_latlon_to_vector - convert lat/lon coordinates to a position vector
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Vector3f pv_location_to_vector(Location loc)
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{
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Vector3f tmp((loc.lat-home.lat) * LATLON_TO_CM, (loc.lng-home.lng) * LATLON_TO_CM * scaleLongDown, loc.alt);
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return tmp;
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}
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// pv_get_lon - extract latitude from position vector
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int32_t pv_get_lat(const Vector3f pos_vec)
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{
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return home.lat + (int32_t)(pos_vec.x / LATLON_TO_CM);
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}
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// pv_get_lon - extract longitude from position vector
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int32_t pv_get_lon(const Vector3f &pos_vec)
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{
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return home.lng + (int32_t)(pos_vec.y / LATLON_TO_CM * scaleLongUp);
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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 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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// pv_get_bearing_cd - return bearing in centi-degrees between two positions
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float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination)
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{
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float bearing = 9000 + atan2f(-(destination.x-origin.x), destination.y-origin.y) * 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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