geo: introduce global/local coordinate frame converter which uses the map projection but also converts altitude

1 files changed, 26 insertions, 0 deletions

diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h
index 20fb34ca3..98dfbd14b 100644
--- a/src/lib/geo/geo.h
+++ b/src/lib/geo/geo.h
@@ -77,6 +77,11 @@ struct map_projection_reference_s {
 	uint64_t timestamp;
 };
 
+struct globallocal_converter_reference_s {
+	float alt;
+	bool init_done;
+};
+
 /**
  * Checks if global projection was initialized
  * @return true if map was initialized before, false else
@@ -191,6 +196,27 @@ __EXPORT int map_projection_global_reproject(float x, float y, double *lat, doub
 __EXPORT int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon);
 
 /**
+ * Initialize the global mapping between global position (spherical) and local position (NED).
+ */
+__EXPORT int globallocalconverter_init(double lat_0, double lon_0, float alt_0, uint64_t timestamp);
+
+/**
+ * Checks if globallocalconverter was initialized
+ * @return true if map was initialized before, false else
+ */
+__EXPORT bool globallocalconverter_initialized();
+
+/**
+ * Convert from global position coordinates to local position coordinates using the global reference
+ */
+__EXPORT int globallocalconverter_tolocal(double lat, double lon, float alt, float *x, float *y, float *z);
+
+/**
+ * Convert from local position coordinates to global position coordinates using the global reference
+ */
+__EXPORT int globallocalconverter_toglobal(float x, float y, float z,  double *lat, double *lon, float *alt);
+
+/**
  * Returns the distance to the next waypoint in meters.
  *
  * @param lat_now current position in degrees (47.1234567°, not 471234567°)