diff options
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); |