/**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. * Author: Thomas Gubler * Julian Oes * Lorenz Meier * * 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 PX4 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.h * * Definition of geo / math functions to perform geodesic calculations * * @author Thomas Gubler * @author Julian Oes * @author Lorenz Meier * Additional functions - @author Doug Weibel */ #pragma once #include "uORB/topics/fence.h" #include "uORB/topics/vehicle_global_position.h" __BEGIN_DECLS #include #define CONSTANTS_ONE_G 9.80665f /* m/s^2 */ #define CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C 1.225f /* kg/m^3 */ #define CONSTANTS_AIR_GAS_CONST 287.1f /* J/(kg * K) */ #define CONSTANTS_ABSOLUTE_NULL_CELSIUS -273.15f /* °C */ #define CONSTANTS_RADIUS_OF_EARTH 6371000 /* meters (m) */ // XXX remove struct crosstrack_error_s { bool past_end; // Flag indicating we are past the end of the line/arc segment float distance; // Distance in meters to closest point on line/arc float bearing; // Bearing in radians to closest point on line/arc } ; /** * Initializes the map transformation. * * 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 void map_projection_init(double lat_0, double lon_0); /** * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane * @param x north * @param y east * @param lat in degrees (47.1234567°, not 471234567°) * @param lon in degrees (8.1234567°, not 81234567°) */ __EXPORT void map_projection_project(double lat, double lon, float *x, float *y); /** * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system * * @param x north * @param y east * @param lat in degrees (47.1234567°, not 471234567°) * @param lon in degrees (8.1234567°, not 81234567°) */ __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 void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float* v_n, float* v_e); __EXPORT void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float* v_n, float* v_e); __EXPORT void add_vector_to_global_position(double lat_now, double lon_now, float v_n, float v_e, double *lat_res, double *lon_res); __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); __EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center, float radius, float arc_start_bearing, float arc_sweep); /* * Calculate distance in global frame */ __EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now, float alt_now, double lat_next, double lon_next, float alt_next, float *dist_xy, float *dist_z); /* * Calculate distance in local frame (NED) */ __EXPORT float mavlink_wpm_distance_to_point_local(float x_now, float y_now, float z_now, float x_next, float y_next, float z_next, float *dist_xy, float *dist_z); __EXPORT float _wrap_180(float bearing); __EXPORT float _wrap_360(float bearing); __EXPORT float _wrap_pi(float bearing); __EXPORT float _wrap_2pi(float bearing); __END_DECLS