diff options
Diffstat (limited to 'src/lib/geo')
-rw-r--r-- | src/lib/geo/geo.c | 34 | ||||
-rw-r--r-- | src/lib/geo/geo.h | 2 | ||||
-rw-r--r-- | src/lib/geo/geo_mag_declination.c | 136 | ||||
-rw-r--r-- | src/lib/geo/geo_mag_declination.h | 47 | ||||
-rw-r--r-- | src/lib/geo/module.mk | 5 |
5 files changed, 22 insertions, 202 deletions
diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c index 235da5b39..e03ec65c4 100644 --- a/src/lib/geo/geo.c +++ b/src/lib/geo/geo.c @@ -158,12 +158,17 @@ __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) { +<<<<<<< HEAD if (!map_projection_initialized(ref)) { return -1; } float x_rad = x / CONSTANTS_RADIUS_OF_EARTH; float y_rad = y / CONSTANTS_RADIUS_OF_EARTH; +======= + double x_rad = x / CONSTANTS_RADIUS_OF_EARTH; + double y_rad = y / CONSTANTS_RADIUS_OF_EARTH; +>>>>>>> 48f4a1e5cd6ef653b466eb68c1073fb47cbefbd7 double c = sqrtf(x_rad * x_rad + y_rad * y_rad); double sin_c = sin(c); double cos_c = cos(c); @@ -308,7 +313,6 @@ __EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double double lat_next_rad = lat_next * M_DEG_TO_RAD; double lon_next_rad = lon_next * M_DEG_TO_RAD; - double d_lat = lat_next_rad - lat_now_rad; double d_lon = lon_next_rad - lon_now_rad; /* conscious mix of double and float trig function to maximize speed and efficiency */ @@ -336,8 +340,8 @@ __EXPORT void add_vector_to_global_position(double lat_now, double lon_now, floa double lat_now_rad = lat_now * M_DEG_TO_RAD; double lon_now_rad = lon_now * M_DEG_TO_RAD; - *lat_res = (lat_now_rad + v_n / CONSTANTS_RADIUS_OF_EARTH) * M_RAD_TO_DEG; - *lon_res = (lon_now_rad + v_e / (CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad))) * M_RAD_TO_DEG; + *lat_res = (lat_now_rad + (double)v_n / CONSTANTS_RADIUS_OF_EARTH) * M_RAD_TO_DEG; + *lon_res = (lon_now_rad + (double)v_e / (CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad))) * M_RAD_TO_DEG; } // Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu> @@ -359,7 +363,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d crosstrack_error->bearing = 0.0f; // Return error if arguments are bad - if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) { return return_value; } + if (lat_now == 0.0 || lon_now == 0.0 || lat_start == 0.0 || lon_start == 0.0 || lat_end == 0.0d || lon_end == 0.0d) { return return_value; } bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end); @@ -374,7 +378,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d } dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); - crosstrack_error->distance = (dist_to_end) * sin(bearing_diff); + crosstrack_error->distance = (dist_to_end) * sinf(bearing_diff); if (sin(bearing_diff) >= 0) { crosstrack_error->bearing = _wrap_pi(bearing_track - M_PI_2_F); @@ -410,7 +414,7 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do crosstrack_error->bearing = 0.0f; // Return error if arguments are bad - if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) { return return_value; } + if (lat_now == 0.0 || lon_now == 0.0 || lat_center == 0.0 || lon_center == 0.0 || radius == 0.0f) { return return_value; } if (arc_sweep >= 0) { @@ -458,14 +462,14 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do // as this function generally will not be called repeatedly when we are out of the sector. // TO DO - this is messed up and won't compile - float start_disp_x = radius * sin(arc_start_bearing); - float start_disp_y = radius * cos(arc_start_bearing); - float end_disp_x = radius * sin(_wrapPI(arc_start_bearing + arc_sweep)); - float end_disp_y = radius * cos(_wrapPI(arc_start_bearing + arc_sweep)); - float lon_start = lon_now + start_disp_x / 111111.0d; - float lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0d; - float lon_end = lon_now + end_disp_x / 111111.0d; - float lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0d; + float start_disp_x = radius * sinf(arc_start_bearing); + float start_disp_y = radius * cosf(arc_start_bearing); + float end_disp_x = radius * sinf(_wrapPI(arc_start_bearing + arc_sweep)); + float end_disp_y = radius * cosf(_wrapPI(arc_start_bearing + arc_sweep)); + float lon_start = lon_now + start_disp_x / 111111.0f; + float lat_start = lat_now + start_disp_y * cosf(lat_now) / 111111.0f; + float lon_end = lon_now + end_disp_x / 111111.0f; + float lat_end = lat_now + end_disp_y * cosf(lat_now) / 111111.0f; float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start); float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); @@ -499,7 +503,7 @@ __EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now double d_lat = x_rad - current_x_rad; double d_lon = y_rad - current_y_rad; - double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0f) * cos(current_x_rad) * cos(x_rad); + double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(current_x_rad) * cos(x_rad); double c = 2 * atan2(sqrt(a), sqrt(1 - a)); float dxy = CONSTANTS_RADIUS_OF_EARTH * c; diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h index 4bc3cc17c..fbcfe1c2d 100644 --- a/src/lib/geo/geo.h +++ b/src/lib/geo/geo.h @@ -50,7 +50,7 @@ __BEGIN_DECLS -#include "geo/geo_mag_declination.h" +#include "geo_lookup/geo_mag_declination.h" #include <stdbool.h> diff --git a/src/lib/geo/geo_mag_declination.c b/src/lib/geo/geo_mag_declination.c deleted file mode 100644 index 09eac38f4..000000000 --- a/src/lib/geo/geo_mag_declination.c +++ /dev/null @@ -1,136 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name MAVGEO nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** -* @file geo_mag_declination.c -* -* Calculation / lookup table for earth magnetic field declination. -* -* Lookup table from Scott Ferguson <scottfromscott@gmail.com> -* -* XXX Lookup table currently too coarse in resolution (only full degrees) -* and lat/lon res - needs extension medium term. -* -*/ - -#include <geo/geo.h> - -/** set this always to the sampling in degrees for the table below */ -#define SAMPLING_RES 10.0f -#define SAMPLING_MIN_LAT -60.0f -#define SAMPLING_MAX_LAT 60.0f -#define SAMPLING_MIN_LON -180.0f -#define SAMPLING_MAX_LON 180.0f - -static const int8_t declination_table[13][37] = \ -{ - 46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, \ - -66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46, 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, \ - -3, -9, -12, -15, -17, -21, -26, -32, -39, -45, -51, -55, -57, -56, -53, -44, -31, -14, 0, 13, 21, 26, \ - 29, 30, 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, \ - -40, -44, -45, -44, -40, -32, -22, -12, -3, 3, 9, 14, 18, 20, 21, 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, \ - 8, 0, -9, -16, -21, -24, -25, -25, -23, -20, -21, -24, -28, -31, -31, -29, -24, -17, -9, -3, 0, 4, 7, \ - 10, 13, 15, 16, 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -12, -19, -23, -24, -24, -22, -17, -12, -9, \ - -10, -13, -17, -18, -16, -13, -8, -3, 0, 1, 3, 6, 8, 10, 12, 12, 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0, -6, \ - -14, -20, -22, -22, -19, -15, -10, -6, -2, -2, -4, -7, -8, -8, -7, -4, 0, 1, 1, 2, 4, 6, 8, 10, 10, 9, 9, 9, \ - 9, 9, 9, 8, 8, 7, 4, -1, -8, -15, -19, -20, -18, -14, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 3, 5, \ - 7, 8, 9, 8, 8, 8, 9, 9, 9, 8, 8, 6, 2, -3, -9, -15, -18, -17, -14, -10, -6, -2, 0, 1, 2, 2, 0, -1, -1, -2, -1, 0, \ - 0, 0, 0, 1, 3, 5, 7, 8, 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -5, -11, -15, -16, -15, -12, -8, -4, -1, 0, 2, 3, 2, 1, 0, \ - 0, 0, 0, 0, -1, -2, -2, -1, 0, 3, 6, 8, 6, 9, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -7, -3, \ - 0, 1, 2, 3, 3, 3, 2, 1, 0, 0, -1, -3, -4, -5, -5, -2, 0, 3, 6, 5, 8, 11, 13, 15, 15, 14, 11, 5, -1, -9, -14, -17, \ - -16, -14, -11, -7, -3, 0, 1, 3, 4, 5, 5, 5, 4, 3, 1, -1, -4, -7, -8, -8, -6, -2, 1, 5, 4, 8, 12, 15, 17, 18, 16, \ - 12, 5, -3, -12, -18, -20, -19, -16, -13, -8, -4, -1, 1, 4, 6, 8, 9, 9, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, \ - 0, 4, 3, 9, 14, 17, 20, 21, 19, 14, 4, -8, -19, -25, -26, -25, -21, -17, -12, -7, -2, 1, 5, 9, 13, 15, 16, 16, \ - 13, 7, 0, -7, -12, -15, -14, -11, -6, -1, 3 -}; - -static float get_lookup_table_val(unsigned lat, unsigned lon); - -__EXPORT float get_mag_declination(float lat, float lon) -{ - /* - * If the values exceed valid ranges, return zero as default - * as we have no way of knowing what the closest real value - * would be. - */ - if (lat < -90.0f || lat > 90.0f || - lon < -180.0f || lon > 180.0f) { - return 0.0f; - } - - /* round down to nearest sampling resolution */ - int min_lat = (int)(lat / SAMPLING_RES) * SAMPLING_RES; - int min_lon = (int)(lon / SAMPLING_RES) * SAMPLING_RES; - - /* for the rare case of hitting the bounds exactly - * the rounding logic wouldn't fit, so enforce it. - */ - - /* limit to table bounds - required for maxima even when table spans full globe range */ - if (lat <= SAMPLING_MIN_LAT) { - min_lat = SAMPLING_MIN_LAT; - } - - if (lat >= SAMPLING_MAX_LAT) { - min_lat = (int)(lat / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES; - } - - if (lon <= SAMPLING_MIN_LON) { - min_lon = SAMPLING_MIN_LON; - } - - if (lon >= SAMPLING_MAX_LON) { - min_lon = (int)(lon / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES; - } - - /* find index of nearest low sampling point */ - unsigned min_lat_index = (-(SAMPLING_MIN_LAT) + min_lat) / SAMPLING_RES; - unsigned min_lon_index = (-(SAMPLING_MIN_LON) + min_lon) / SAMPLING_RES; - - float declination_sw = get_lookup_table_val(min_lat_index, min_lon_index); - float declination_se = get_lookup_table_val(min_lat_index, min_lon_index + 1); - float declination_ne = get_lookup_table_val(min_lat_index + 1, min_lon_index + 1); - float declination_nw = get_lookup_table_val(min_lat_index + 1, min_lon_index); - - /* perform bilinear interpolation on the four grid corners */ - - float declination_min = ((lon - min_lon) / SAMPLING_RES) * (declination_se - declination_sw) + declination_sw; - float declination_max = ((lon - min_lon) / SAMPLING_RES) * (declination_ne - declination_nw) + declination_nw; - - return ((lat - min_lat) / SAMPLING_RES) * (declination_max - declination_min) + declination_min; -} - -float get_lookup_table_val(unsigned lat_index, unsigned lon_index) -{ - return declination_table[lat_index][lon_index]; -}
\ No newline at end of file diff --git a/src/lib/geo/geo_mag_declination.h b/src/lib/geo/geo_mag_declination.h deleted file mode 100644 index 0ac062d6d..000000000 --- a/src/lib/geo/geo_mag_declination.h +++ /dev/null @@ -1,47 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name MAVGEO nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** -* @file geo_mag_declination.h -* -* Calculation / lookup table for earth magnetic field declination. -* -*/ - -#pragma once - -__BEGIN_DECLS - -__EXPORT float get_mag_declination(float lat, float lon); - -__END_DECLS diff --git a/src/lib/geo/module.mk b/src/lib/geo/module.mk index 9500a2bcc..d08ca4532 100644 --- a/src/lib/geo/module.mk +++ b/src/lib/geo/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,5 +35,4 @@ # Geo library # -SRCS = geo.c \ - geo_mag_declination.c +SRCS = geo.c |