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/**
* @file geo.h
*
* Definition of geo / math functions to perform geodesic calculations
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
*/
#pragma once
#include "uORB/topics/fence.h"
#include "uORB/topics/vehicle_global_position.h"
__BEGIN_DECLS
#include <stdbool.h>
#define CONSTANTS_ONE_G 9.80665f /* m/s^2 */
#define CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C 1.225f /* kg/m^3 */
#define CONSTANTS_AIR_GAS_CONST 287.1f /* J/(kg * K) */
#define CONSTANTS_ABSOLUTE_NULL_CELSIUS -273.15f /* °C */
#define CONSTANTS_RADIUS_OF_EARTH 6371000 /* meters (m) */
// XXX remove
struct crosstrack_error_s {
bool past_end; // Flag indicating we are past the end of the line/arc segment
float distance; // Distance in meters to closest point on line/arc
float bearing; // Bearing in radians to closest point on line/arc
} ;
/* lat/lon are in radians */
struct map_projection_reference_s {
double lat;
double lon;
double sin_lat;
double cos_lat;
bool init_done;
uint64_t timestamp;
};
/**
* Initializes the map transformation.
* @return true if map_projection_init was called before, false else
*/
__EXPORT bool map_projection_inited();
/**
* Initializes the map transformation.
*
* Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane
* @param lat in degrees (47.1234567°, not 471234567°)
* @param lon in degrees (8.1234567°, not 81234567°)
*/
__EXPORT void map_projection_init(double lat_0, double lon_0);
/**
* Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane
* @param x north
* @param y east
* @param lat in degrees (47.1234567°, not 471234567°)
* @param lon in degrees (8.1234567°, not 81234567°)
* @return true if map_projection_init was called before, false else
*/
__EXPORT bool map_projection_project(double lat, double lon, float *x, float *y);
/**
* Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system
*
* @param x north
* @param y east
* @param lat in degrees (47.1234567°, not 471234567°)
* @param lon in degrees (8.1234567°, not 81234567°)
* @return true if map_projection_init was called before, false else
*/
__EXPORT bool map_projection_reproject(float x, float y, double *lat, double *lon);
/**
* Returns the distance to the next waypoint in meters.
*
* @param lat_now current position in degrees (47.1234567°, not 471234567°)
* @param lon_now current position in degrees (8.1234567°, not 81234567°)
* @param lat_next next waypoint position in degrees (47.1234567°, not 471234567°)
* @param lon_next next waypoint position in degrees (8.1234567°, not 81234567°)
*/
__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
/**
* Returns the bearing to the next waypoint in radians.
*
* @param lat_now current position in degrees (47.1234567°, not 471234567°)
* @param lon_now current position in degrees (8.1234567°, not 81234567°)
* @param lat_next next waypoint position in degrees (47.1234567°, not 471234567°)
* @param lon_next next waypoint position in degrees (8.1234567°, not 81234567°)
*/
__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
__EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, float *v_e);
__EXPORT 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);
__EXPORT void add_vector_to_global_position(double lat_now, double lon_now, float v_n, float v_e, double *lat_res, double *lon_res);
__EXPORT 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);
__EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
float radius, float arc_start_bearing, float arc_sweep);
/*
* Calculate distance in global frame
*/
__EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now, float alt_now,
double lat_next, double lon_next, float alt_next,
float *dist_xy, float *dist_z);
/*
* Calculate distance in local frame (NED)
*/
__EXPORT float mavlink_wpm_distance_to_point_local(float x_now, float y_now, float z_now,
float x_next, float y_next, float z_next,
float *dist_xy, float *dist_z);
__EXPORT float _wrap_180(float bearing);
__EXPORT float _wrap_360(float bearing);
__EXPORT float _wrap_pi(float bearing);
__EXPORT float _wrap_2pi(float bearing);
__END_DECLS