forked from Archive/PX4-Autopilot
306 lines
12 KiB
C
306 lines
12 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file geo.h
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*
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* Definition of geo / math functions to perform geodesic calculations
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*
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Anton Babushkin <anton.babushkin@me.com>
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* Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
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*/
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#pragma once
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#include <stdbool.h>
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#include <stdint.h>
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static constexpr float CONSTANTS_ONE_G = 9.80665f; // m/s^2
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static constexpr float CONSTANTS_STD_PRESSURE_PA = 101325.0f; // pascals (Pa)
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static constexpr float CONSTANTS_STD_PRESSURE_KPA = CONSTANTS_STD_PRESSURE_PA / 1000.0f; // kilopascals (kPa)
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static constexpr float CONSTANTS_STD_PRESSURE_MBAR = CONSTANTS_STD_PRESSURE_PA / 100.0f; // Millibar (mbar) (1 mbar = 100 Pa)
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static constexpr float CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C = 1.225f; // kg/m^3
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static constexpr float CONSTANTS_AIR_GAS_CONST = 287.1f; // J/(kg * K)
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static constexpr float CONSTANTS_ABSOLUTE_NULL_CELSIUS = -273.15f; // °C
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static constexpr double CONSTANTS_RADIUS_OF_EARTH = 6371000; // meters (m)
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static constexpr float CONSTANTS_RADIUS_OF_EARTH_F = CONSTANTS_RADIUS_OF_EARTH; // meters (m)
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static constexpr float CONSTANTS_EARTH_SPIN_RATE = 7.2921150e-5f; // radians/second (rad/s)
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// XXX remove
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struct crosstrack_error_s {
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bool past_end; // Flag indicating we are past the end of the line/arc segment
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float distance; // Distance in meters to closest point on line/arc
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float bearing; // Bearing in radians to closest point on line/arc
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} ;
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/* lat/lon are in radians */
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struct map_projection_reference_s {
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uint64_t timestamp;
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double lat_rad;
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double lon_rad;
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double sin_lat;
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double cos_lat;
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bool init_done;
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};
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struct globallocal_converter_reference_s {
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float alt;
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bool init_done;
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};
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/**
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* Checks if global projection was initialized
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* @return true if map was initialized before, false else
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*/
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bool map_projection_global_initialized();
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/**
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* Checks if projection given as argument was initialized
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* @return true if map was initialized before, false else
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*/
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bool map_projection_initialized(const struct map_projection_reference_s *ref);
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/**
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* Get the timestamp of the global map projection
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* @return the timestamp of the map_projection
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*/
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uint64_t map_projection_global_timestamp(void);
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/**
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* Get the timestamp of the map projection given by the argument
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* @return the timestamp of the map_projection
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*/
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uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref);
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/**
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* Writes the reference values of the global projection to ref_lat and ref_lon
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* @return 0 if map_projection_init was called before, -1 else
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*/
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int map_projection_global_reference(double *ref_lat_rad, double *ref_lon_rad);
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/**
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* Writes the reference values of the projection given by the argument to ref_lat and ref_lon
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* @return 0 if map_projection_init was called before, -1 else
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*/
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int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad, double *ref_lon_rad);
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/**
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* Initializes the global map transformation.
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*
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* Initializes the transformation between the geographic coordinate system and
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* the azimuthal equidistant plane
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* @param lat in degrees (47.1234567°, not 471234567°)
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* @param lon in degrees (8.1234567°, not 81234567°)
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*/
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int map_projection_global_init(double lat_0, double lon_0, uint64_t timestamp);
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/**
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* Initializes the map transformation given by the argument.
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*
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* Initializes the transformation between the geographic coordinate system and
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* the azimuthal equidistant plane
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* @param lat in degrees (47.1234567°, not 471234567°)
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* @param lon in degrees (8.1234567°, not 81234567°)
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*/
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int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp);
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/**
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* Initializes the map transformation given by the argument and sets the timestamp to now.
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*
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* Initializes the transformation between the geographic coordinate system and
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* the azimuthal equidistant plane
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* @param lat in degrees (47.1234567°, not 471234567°)
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* @param lon in degrees (8.1234567°, not 81234567°)
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*/
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int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0);
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/**
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* Transforms a point in the geographic coordinate system to the local
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* azimuthal equidistant plane using the global projection
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* @param x north
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* @param y east
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* @param lat in degrees (47.1234567°, not 471234567°)
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* @param lon in degrees (8.1234567°, not 81234567°)
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* @return 0 if map_projection_init was called before, -1 else
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*/
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int map_projection_global_project(double lat, double lon, float *x, float *y);
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/* Transforms a point in the geographic coordinate system to the local
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* azimuthal equidistant plane using the projection given by the argument
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* @param x north
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* @param y east
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* @param lat in degrees (47.1234567°, not 471234567°)
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* @param lon in degrees (8.1234567°, not 81234567°)
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* @return 0 if map_projection_init was called before, -1 else
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*/
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int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y);
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/**
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* Transforms a point in the local azimuthal equidistant plane to the
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* geographic coordinate system using the global projection
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*
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* @param x north
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* @param y east
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* @param lat in degrees (47.1234567°, not 471234567°)
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* @param lon in degrees (8.1234567°, not 81234567°)
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* @return 0 if map_projection_init was called before, -1 else
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*/
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int map_projection_global_reproject(float x, float y, double *lat, double *lon);
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/**
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* Transforms a point in the local azimuthal equidistant plane to the
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* geographic coordinate system using the projection given by the argument
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*
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* @param x north
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* @param y east
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* @param lat in degrees (47.1234567°, not 471234567°)
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* @param lon in degrees (8.1234567°, not 81234567°)
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* @return 0 if map_projection_init was called before, -1 else
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*/
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int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon);
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/**
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* Get reference position of the global map projection
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*/
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int map_projection_global_getref(double *lat_0, double *lon_0);
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/**
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* Initialize the global mapping between global position (spherical) and local position (NED).
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*/
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int globallocalconverter_init(double lat_0, double lon_0, float alt_0, uint64_t timestamp);
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/**
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* Checks if globallocalconverter was initialized
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* @return true if map was initialized before, false else
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*/
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bool globallocalconverter_initialized(void);
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/**
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* Convert from global position coordinates to local position coordinates using the global reference
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*/
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int globallocalconverter_tolocal(double lat, double lon, float alt, float *x, float *y, float *z);
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/**
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* Convert from local position coordinates to global position coordinates using the global reference
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*/
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int globallocalconverter_toglobal(float x, float y, float z, double *lat, double *lon, float *alt);
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/**
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* Get reference position of the global to local converter
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*/
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int globallocalconverter_getref(double *lat_0, double *lon_0, float *alt_0);
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/**
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* Returns the distance to the next waypoint in meters.
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*
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* @param lat_now current position in degrees (47.1234567°, not 471234567°)
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* @param lon_now current position in degrees (8.1234567°, not 81234567°)
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* @param lat_next next waypoint position in degrees (47.1234567°, not 471234567°)
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* @param lon_next next waypoint position in degrees (8.1234567°, not 81234567°)
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*/
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float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
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/**
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* Creates a new waypoint C on the line of two given waypoints (A, B) at certain distance
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* from waypoint A
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*
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* @param lat_A waypoint A latitude in degrees (47.1234567°, not 471234567°)
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* @param lon_A waypoint A longitude in degrees (8.1234567°, not 81234567°)
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* @param lat_B waypoint B latitude in degrees (47.1234567°, not 471234567°)
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* @param lon_B waypoint B longitude in degrees (8.1234567°, not 81234567°)
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* @param dist distance of target waypoint from waypoint A in meters (can be negative)
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* @param lat_target latitude of target waypoint C in degrees (47.1234567°, not 471234567°)
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* @param lon_target longitude of target waypoint C in degrees (47.1234567°, not 471234567°)
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*/
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void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B, double lon_B, float dist,
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double *lat_target, double *lon_target);
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/**
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* Creates a waypoint from given waypoint, distance and bearing
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* see http://www.movable-type.co.uk/scripts/latlong.html
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*
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* @param lat_start latitude of starting waypoint in degrees (47.1234567°, not 471234567°)
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* @param lon_start longitude of starting waypoint in degrees (8.1234567°, not 81234567°)
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* @param bearing in rad
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* @param distance in meters
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* @param lat_target latitude of target waypoint in degrees (47.1234567°, not 471234567°)
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* @param lon_target longitude of target waypoint in degrees (47.1234567°, not 471234567°)
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*/
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void waypoint_from_heading_and_distance(double lat_start, double lon_start, float bearing, float dist,
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double *lat_target, double *lon_target);
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/**
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* Returns the bearing to the next waypoint in radians.
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*
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* @param lat_now current position in degrees (47.1234567°, not 471234567°)
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* @param lon_now current position in degrees (8.1234567°, not 81234567°)
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* @param lat_next next waypoint position in degrees (47.1234567°, not 471234567°)
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* @param lon_next next waypoint position in degrees (8.1234567°, not 81234567°)
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*/
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float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
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void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, float *v_e);
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void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, float *v_e);
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void add_vector_to_global_position(double lat_now, double lon_now, float v_n, float v_e, double *lat_res, double *lon_res);
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int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now,
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double lat_start, double lon_start, double lat_end, double lon_end);
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int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now,
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double lat_center, double lon_center,
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float radius, float arc_start_bearing, float arc_sweep);
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/*
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* Calculate distance in global frame
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*/
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float get_distance_to_point_global_wgs84(double lat_now, double lon_now, float alt_now,
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double lat_next, double lon_next, float alt_next,
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float *dist_xy, float *dist_z);
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/*
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* Calculate distance in local frame (NED)
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*/
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float mavlink_wpm_distance_to_point_local(float x_now, float y_now, float z_now,
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float x_next, float y_next, float z_next,
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float *dist_xy, float *dist_z);
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