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author | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
commit | 8a365179eafdf3aea98e60ab9f5882b200d4c759 (patch) | |
tree | 4f38d6d4cd80bd0b6e22e2bb534c3f117ce44e56 /apps/gps/nmealib/nmea/gmath.h | |
download | px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.gz px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.bz2 px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.zip |
Fresh import of the PX4 firmware sources.
Diffstat (limited to 'apps/gps/nmealib/nmea/gmath.h')
-rw-r--r-- | apps/gps/nmealib/nmea/gmath.h | 92 |
1 files changed, 92 insertions, 0 deletions
diff --git a/apps/gps/nmealib/nmea/gmath.h b/apps/gps/nmealib/nmea/gmath.h new file mode 100644 index 000000000..3133b7228 --- /dev/null +++ b/apps/gps/nmealib/nmea/gmath.h @@ -0,0 +1,92 @@ +/* + * + * NMEA library + * URL: http://nmea.sourceforge.net + * Author: Tim (xtimor@gmail.com) + * Licence: http://www.gnu.org/licenses/lgpl.html + * $Id: gmath.h 17 2008-03-11 11:56:11Z xtimor $ + * + */ + +#ifndef __NMEA_GMATH_H__ +#define __NMEA_GMATH_H__ + +#include "info.h" + +#define NMEA_PI (3.141592653589793) /**< PI value */ +#define NMEA_PI180 (NMEA_PI / 180) /**< PI division by 180 */ +#define NMEA_EARTHRADIUS_KM (6378) /**< Earth's mean radius in km */ +#define NMEA_EARTHRADIUS_M (NMEA_EARTHRADIUS_KM * 1000) /**< Earth's mean radius in m */ +#define NMEA_EARTH_SEMIMAJORAXIS_M (6378137.0) /**< Earth's semi-major axis in m according WGS84 */ +#define NMEA_EARTH_SEMIMAJORAXIS_KM (NMEA_EARTHMAJORAXIS_KM / 1000) /**< Earth's semi-major axis in km according WGS 84 */ +#define NMEA_EARTH_FLATTENING (1 / 298.257223563) /**< Earth's flattening according WGS 84 */ +#define NMEA_DOP_FACTOR (5) /**< Factor for translating DOP to meters */ + +#ifdef __cplusplus +extern "C" { +#endif + +/* + * degree VS radian + */ + +float nmea_degree2radian(float val); +float nmea_radian2degree(float val); + +/* + * NDEG (NMEA degree) + */ + +float nmea_ndeg2degree(float val); +float nmea_degree2ndeg(float val); + +float nmea_ndeg2radian(float val); +float nmea_radian2ndeg(float val); + +/* + * DOP + */ + +float nmea_calc_pdop(float hdop, float vdop); +float nmea_dop2meters(float dop); +float nmea_meters2dop(float meters); + +/* + * positions work + */ + +void nmea_info2pos(const nmeaINFO *info, nmeaPOS *pos); +void nmea_pos2info(const nmeaPOS *pos, nmeaINFO *info); + +float nmea_distance( + const nmeaPOS *from_pos, + const nmeaPOS *to_pos + ); + +float nmea_distance_ellipsoid( + const nmeaPOS *from_pos, + const nmeaPOS *to_pos, + float *from_azimuth, + float *to_azimuth + ); + +int nmea_move_horz( + const nmeaPOS *start_pos, + nmeaPOS *end_pos, + float azimuth, + float distance + ); + +int nmea_move_horz_ellipsoid( + const nmeaPOS *start_pos, + nmeaPOS *end_pos, + float azimuth, + float distance, + float *end_azimuth + ); + +#ifdef __cplusplus +} +#endif + +#endif /* __NMEA_GMATH_H__ */ |