mirror of https://github.com/ArduPilot/ardupilot
35 lines
1.2 KiB
C
35 lines
1.2 KiB
C
#pragma once
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#include <inttypes.h>
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#include "vector2.h"
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#include "vector3.h"
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/*
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* LOCATION
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*/
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// return horizontal distance in centimeters between two positions
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float get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination);
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// return bearing in centi-degrees between two positions
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float get_bearing_cd(const Vector3f &origin, const Vector3f &destination);
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// Converts from WGS84 geodetic coordinates (lat, lon, height)
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// into WGS84 Earth Centered, Earth Fixed (ECEF) coordinates
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// (X, Y, Z)
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void wgsllh2ecef(const Vector3d &llh, Vector3d &ecef);
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// Converts from WGS84 Earth Centered, Earth Fixed (ECEF)
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// coordinates (X, Y, Z), into WHS84 geodetic
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// coordinates (lat, lon, height)
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void wgsecef2llh(const Vector3d &ecef, Vector3d &llh);
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// return true when lat and lng are within range
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bool check_lat(float lat) WARN_IF_UNUSED;
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bool check_lng(float lng) WARN_IF_UNUSED;
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bool check_lat(int32_t lat) WARN_IF_UNUSED;
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bool check_lng(int32_t lng) WARN_IF_UNUSED;
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bool check_latlng(float lat, float lng) WARN_IF_UNUSED;
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bool check_latlng(int32_t lat, int32_t lng) WARN_IF_UNUSED;
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