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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-04 13:25:42 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-04 13:25:42 +0200 |
| commit | de8186e050d51297a2878676b87bb6d1f8b6f24f (patch) | |
| tree | d1d1e50b37bdf21fc629b0f6bc711ce61ebbd84e /src/modules/systemlib/geo/geo.h | |
| parent | abb024c724435937c1a0ae707dccfa28a48ef559 (diff) | |
| parent | e3ee6689fe8fe4e6d6c77767d340f7e732ded85e (diff) | |
| download | px4-firmware-de8186e050d51297a2878676b87bb6d1f8b6f24f.tar.gz px4-firmware-de8186e050d51297a2878676b87bb6d1f8b6f24f.tar.bz2 px4-firmware-de8186e050d51297a2878676b87bb6d1f8b6f24f.zip | |
Merge branch 'master' of github.com:PX4/Firmware into failsafe_io
Diffstat (limited to 'src/modules/systemlib/geo/geo.h')
| -rw-r--r-- | src/modules/systemlib/geo/geo.h | 16 |
1 files changed, 16 insertions, 0 deletions
diff --git a/src/modules/systemlib/geo/geo.h b/src/modules/systemlib/geo/geo.h index 0c0b5c533..84097b49f 100644 --- a/src/modules/systemlib/geo/geo.h +++ b/src/modules/systemlib/geo/geo.h @@ -82,8 +82,24 @@ __EXPORT void map_projection_project(double lat, double lon, float *x, float *y) */ __EXPORT void 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 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); |