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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-29 15:39:26 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-29 15:39:26 +0200 |
| commit | a7289a32664e3118bf553d23cfd91ed5c86caa84 (patch) | |
| tree | 5129d27c76582e7a1bb3072e877ddc21f158a940 /src/lib | |
| parent | 4f84cdc8b871b6c8da7f05a58e96f97b65f290c9 (diff) | |
| download | px4-firmware-a7289a32664e3118bf553d23cfd91ed5c86caa84.tar.gz px4-firmware-a7289a32664e3118bf553d23cfd91ed5c86caa84.tar.bz2 px4-firmware-a7289a32664e3118bf553d23cfd91ed5c86caa84.zip | |
mavlink interface: update mapprojection usage
Diffstat (limited to 'src/lib')
| -rw-r--r-- | src/lib/geo/geo.c | 11 | ||||
| -rw-r--r-- | src/lib/geo/geo.h | 13 |
2 files changed, 20 insertions, 4 deletions
diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c index 53e601fad..438e354df 100644 --- a/src/lib/geo/geo.c +++ b/src/lib/geo/geo.c @@ -81,13 +81,13 @@ __EXPORT int map_projection_global_init(double lat_0, double lon_0, uint64_t tim { if (strcmp("navigator", getprogname() == 0)) { - return map_projection_init(&mp_ref, lat_0, lon_0, timestamp); + return map_projection_init_timestamped(&mp_ref, lat_0, lon_0, timestamp); } else { return -1; } } -__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 +__EXPORT int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 { ref->lat = lat_0 / 180.0 * M_PI; @@ -102,9 +102,14 @@ __EXPORT int map_projection_init(struct map_projection_reference_s *ref, double return 0; } +__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 +{ + map_projection_init_timestamped(ref, lat_0, lon_0, hrt_absolute_time()); +} + __EXPORT int map_projection_global_reference(double *ref_lat, double *ref_lon) { - return map_projection_reference_s(&mp_ref, ref_lat, ref_lon); + return map_projection_reference(&mp_ref, ref_lat, ref_lon); } __EXPORT int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat, double *ref_lon) diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h index 990f79194..3d7ba050f 100644 --- a/src/lib/geo/geo.h +++ b/src/lib/geo/geo.h @@ -129,7 +129,18 @@ __EXPORT int map_projection_global_init(double lat_0, double lon_0, uint64_t tim * @param lat in degrees (47.1234567°, not 471234567°) * @param lon in degrees (8.1234567°, not 81234567°) */ -__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp); +__EXPORT int map_projection_init_timestamped(struct map_projection_reference_s *ref, + double lat_0, double lon_0, uint64_t timestamp); + +/** + * Initializes the map transformation given by the argument and sets the timestamp to now. + * + * 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 int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0); /** * Transforms a point in the geographic coordinate system to the local |