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px4-firmware
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This commit is contained in:
mcsauder 2023-03-21 09:19:32 -06:00
parent 08e9d884d2
commit 70109e91dc
2 changed files with 22 additions and 20 deletions
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39
src/lib/geo/geo.cpp
View File

@ -138,17 +138,16 @@ void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B
}
}
void waypoint_from_heading_and_distance(const double lat_start, const double lon_start, const float bearing,
const float dist, double *lat_target, double *lon_target)
void waypoint_from_heading_and_distance(double lat_start, double lon_start, float bearing,
float dist, double *lat_target, double *lon_target)
{
float heading = wrap_2pi(bearing);
double radius_ratio = static_cast<double>(dist) / CONSTANTS_RADIUS_OF_EARTH;
const double heading = wrap_2pi(bearing);
const double radius_ratio = static_cast<double>(dist) / CONSTANTS_RADIUS_OF_EARTH;
double lat_start_rad = math::radians(lat_start);
double lon_start_rad = math::radians(lon_start);
const double lat_start_rad = math::radians(lat_start);
const double lon_start_rad = math::radians(lon_start);
*lat_target = asin(sin(lat_start_rad) * cos(radius_ratio) + cos(lat_start_rad) * sin(radius_ratio) * cos((
double)heading));
*lat_target = asin(sin(lat_start_rad) * cos(radius_ratio) + cos(lat_start_rad) * sin(radius_ratio) * cos(heading));
*lon_target = lon_start_rad + atan2(sin((double)heading) * sin(radius_ratio) * cos(lat_start_rad),
cos(radius_ratio) - sin(lat_start_rad) * sin(*lat_target));
@ -212,8 +211,6 @@ void add_vector_to_global_position(double lat_now, double lon_now, float v_n, fl
*lon_res = math::degrees(lon_now_rad + (double)v_e / (CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad)));
}
// Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
int get_distance_to_line(struct crosstrack_error_s &crosstrack_error, double lat_now, double lon_now,
double lat_start, double lon_start, double lat_end, double lon_end)
{
@ -246,19 +243,19 @@ int get_distance_to_line(struct crosstrack_error_s &crosstrack_error, double lat
// before_start is true if before start point of line, past_end is true if past line segment end.
if (bearing_diff_to_start < M_PI_2_F || bearing_diff_to_start > -M_PI_2_F) {
crosstrack_error->before_start = true;
crosstrack_error.before_start = true;
}
if (bearing_diff_to_end > M_PI_2_F || bearing_diff_to_end < -M_PI_2_F) {
crosstrack_error->past_end = true;
crosstrack_error.past_end = true;
}
crosstrack_error->distance_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
crosstrack_error->distance_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
crosstrack_error->distance = dist_to_end * sinf(bearing_diff_to_end);
crosstrack_error.distance_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
crosstrack_error.distance_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
crosstrack_error.distance = dist_to_end * sinf(bearing_diff_to_end);
if (sinf(bearing_diff_to_end) >= 0) {
crosstrack_error->bearing = wrap_pi(bearing_track - M_PI_2_F);
crosstrack_error.bearing = wrap_pi(bearing_track - M_PI_2_F);
} else {
crosstrack_error.bearing = wrap_pi(bearing_track + M_PI_2_F);
@ -279,12 +276,14 @@ int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, double lat_
// to the arc start and the line from the center to the arc end
float bearing_sector_start = 0.0f;
float bearing_sector_end = 0.0f;
float bearing_now = get_bearing_to_next_waypoint(lat_now, lon_now, lat_center, lon_center);
int return_value = -1; // Set error flag, cleared when valid result calculated.
crosstrack_error->past_end = false;
crosstrack_error->distance = 0.0f;
crosstrack_error->bearing = 0.0f;
crosstrack_error->bearing = 0.0f;
// Return error if arguments are bad
if (radius < 0.1f) {
@ -345,14 +344,18 @@ int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, double lat_
double start_disp_x = (double)radius * sin((double)arc_start_bearing);
double start_disp_y = (double)radius * cos((double)arc_start_bearing);
double end_disp_x = (double)radius * sin((double)wrap_pi(arc_start_bearing + arc_sweep));
double end_disp_y = (double)radius * cos((double)wrap_pi(arc_start_bearing + arc_sweep));
double lon_start = lon_now + start_disp_x / 111111.0;
double lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0;
double lon_end = lon_now + end_disp_x / 111111.0;
double lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0;
float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
if (dist_to_start < dist_to_end) {
crosstrack_error->distance = dist_to_start;

3
src/lib/geo/geo.h
View File

@ -116,8 +116,7 @@ void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B
* @param lat_target latitude of target waypoint in degrees (47.1234567°, not 471234567°)
* @param lon_target longitude of target waypoint in degrees (47.1234567°, not 471234567°)
*/
void waypoint_from_heading_and_distance(const double lat_start, const double lon_start, const float bearing,
const float dist,
void waypoint_from_heading_and_distance(double lat_start, double lon_start, float bearing, float dist,
double *lat_target, double *lon_target);
/**