Fixed Point Geodetic functions

Collaboration diagram for Fixed Point Geodetic functions:

Data Structures
struct	EcefCoor_i
	vector in EarthCenteredEarthFixed coordinates More...
struct	LlaCoor_i
	vector in Latitude, Longitude and Altitude More...
struct	NedCoor_i
	vector in North East Down coordinates More...
struct	EnuCoor_i
	vector in East North Up coordinates More...
struct	UtmCoor_i
	position in UTM coordinates More...
struct	LtpDef_i
	definition of the local (flat earth) coordinate system More...

Macros
#define	CM_OF_M(_m)   ((_m)*1e2)
#define	M_OF_CM(_cm)   ((_cm)/1e2)
#define	MM_OF_M(_m)   ((_m)*1e3)
#define	M_OF_MM(_mm)   ((_mm)/1e3)
#define	EM7RAD_OF_RAD(_r)   ((_r)*1e7)
#define	RAD_OF_EM7RAD(_r)   ((_r)/1e7)
#define	EM7DEG_OF_DEG(_r)   ((_r)*1e7)
#define	DEG_OF_EM7DEG(_r)   ((_r)/1e7)
#define	EM7DEG_OF_RAD(_r)   (DegOfRad(_r)*1e7)
#define	RAD_OF_EM7DEG(_r)   (RadOfDeg(_r)/1e7)
#define	HIGH_RES_TRIG_FRAC   20
#define	VECT3_ENU_OF_NED(_o, _i)
#define	VECT3_NED_OF_ENU(_o, _i)   VECT3_ENU_OF_NED(_o,_i)
#define	INT32_VECT3_NED_OF_ENU(_o, _i)   VECT3_ENU_OF_NED(_o,_i)
#define	INT32_VECT3_ENU_OF_NED(_o, _i)   VECT3_ENU_OF_NED(_o,_i)
#define	VECT3_CM_OF_REAL(_o, _i)
#define	VECT3_FLOAT_OF_CM(_o, _i)
#define	VECT3_DOUBLE_OF_CM(_o, _i)
#define	ECEF_BFP_OF_REAL(_o, _i)   VECT3_CM_OF_REAL(_o, _i)
#define	ECEF_FLOAT_OF_BFP(_o, _i)   VECT3_FLOAT_OF_CM(_o, _i)
#define	ECEF_DOUBLE_OF_BFP(_o, _i)   VECT3_DOUBLE_OF_CM(_o, _i)
#define	LLA_BFP_OF_REAL(_o, _i)
#define	LLA_FLOAT_OF_BFP(_o, _i)
#define	LLA_DOUBLE_OF_BFP(_o, _i)
#define	NED_BFP_OF_REAL(_o, _i)
#define	ENU_BFP_OF_REAL(_o, _i)   NED_BFP_OF_REAL(_o, _i)
#define	NED_FLOAT_OF_BFP(_o, _i)
#define	ENU_FLOAT_OF_BFP(_o, _i)   NED_FLOAT_OF_BFP(_o, _i)
#define	INT32_VECT2_ENU_OF_NED(_o, _i)
#define	INT32_VECT2_NED_OF_ENU(_o, _i)   INT32_VECT2_ENU_OF_NED(_o,_i)
#define	HIGH_RES_RMAT_BFP_OF_REAL(_ei, _ef)
#define	HIGH_RES_RMAT_FLOAT_OF_BFP(_ef, _ei)
#define	HIGH_RES_RMAT_DOUBLE_OF_BFP(_ef, _ei)
#define	UTM_FLOAT_OF_BFP(_o, _i)
#define	UTM_DOUBLE_OF_BFP(_o, _i)
#define	UTM_BFP_OF_REAL(_o, _i)

Functions
void	lla_of_utm_i (struct LlaCoor_i *lla, struct UtmCoor_i *utm)
	Convert a UTM to LLA.
void	utm_of_lla_i (struct UtmCoor_i *utm, struct LlaCoor_i *lla)
	Convert a LLA to UTM.
void	ltp_of_ecef_rmat_from_lla_i (struct Int32RMat *ltp_of_ecef, struct LlaCoor_i *lla)
void	ltp_def_from_ecef_i (struct LtpDef_i *def, struct EcefCoor_i *ecef)
void	ltp_def_from_lla_i (struct LtpDef_i *def, struct LlaCoor_i *lla)
void	lla_of_ecef_i (struct LlaCoor_i *out, struct EcefCoor_i *in)
	Convert a ECEF to LLA.
void	ecef_of_lla_i (struct EcefCoor_i *out, struct LlaCoor_i *in)
	Convert a LLA to ECEF.
void	enu_of_ecef_point_i (struct EnuCoor_i *enu, struct LtpDef_i *def, struct EcefCoor_i *ecef)
	Convert a point from ECEF to local ENU.
void	ned_of_ecef_point_i (struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef)
	Convert a point from ECEF to local NED.
void	enu_of_ecef_pos_i (struct EnuCoor_i *enu, struct LtpDef_i *def, struct EcefCoor_i *ecef)
	Convert a ECEF position to local ENU.
void	ned_of_ecef_pos_i (struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef)
	Convert a ECEF position to local NED.
void	enu_of_ecef_vect_i (struct EnuCoor_i *enu, struct LtpDef_i *def, struct EcefCoor_i *ecef)
	Rotate a vector from ECEF to ENU.
void	ned_of_ecef_vect_i (struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef)
	Rotate a vector from ECEF to NED.
void	enu_of_lla_point_i (struct EnuCoor_i *enu, struct LtpDef_i *def, struct LlaCoor_i *lla)
	Convert a point from LLA to local ENU.
void	ned_of_lla_point_i (struct NedCoor_i *ned, struct LtpDef_i *def, struct LlaCoor_i *lla)
	Convert a point from LLA to local NED.
void	enu_of_lla_pos_i (struct EnuCoor_i *enu, struct LtpDef_i *def, struct LlaCoor_i *lla)
	Convert a point from LLA to local ENU.
void	ned_of_lla_pos_i (struct NedCoor_i *ned, struct LtpDef_i *def, struct LlaCoor_i *lla)
	Convert a point from LLA to local NED.
void	enu_of_lla_vect_i (struct EnuCoor_i *enu, struct LtpDef_i *def, struct LlaCoor_i *lla)
void	ned_of_lla_vect_i (struct NedCoor_i *ned, struct LtpDef_i *def, struct LlaCoor_i *lla)
void	ecef_of_enu_point_i (struct EcefCoor_i *ecef, struct LtpDef_i *def, struct EnuCoor_i *enu)
	Convert a point in local ENU to ECEF.
void	ecef_of_ned_point_i (struct EcefCoor_i *ecef, struct LtpDef_i *def, struct NedCoor_i *ned)
	Convert a point in local NED to ECEF.
void	ecef_of_enu_pos_i (struct EcefCoor_i *ecef, struct LtpDef_i *def, struct EnuCoor_i *enu)
	Convert a local ENU position to ECEF.
void	ecef_of_ned_pos_i (struct EcefCoor_i *ecef, struct LtpDef_i *def, struct NedCoor_i *ned)
	Convert a local NED position to ECEF.
void	ecef_of_enu_vect_i (struct EcefCoor_i *ecef, struct LtpDef_i *def, struct EnuCoor_i *enu)
	Rotate a vector from ENU to ECEF.
void	ecef_of_ned_vect_i (struct EcefCoor_i *ecef, struct LtpDef_i *def, struct NedCoor_i *ned)
	Rotate a vector from NED to ECEF.

Detailed Description

---

Data Structure Documentation

EcefCoor_i

struct EcefCoor_i

vector in EarthCenteredEarthFixed coordinates

Origin at center of mass of the Earth. Z-axis is pointing north, the x-axis intersects the sphere of the earth at 0° latitude (Equator) and 0° longitude (Greenwich). Y-axis completes it to right-hand system. Units: centimeters

Definition at line 50 of file pprz_geodetic_int.h.

Data Fields
int32_t	x	in centimeters
int32_t	y	in centimeters
int32_t	z	in centimeters

LlaCoor_i

struct LlaCoor_i

vector in Latitude, Longitude and Altitude

Definition at line 59 of file pprz_geodetic_int.h.

Data Fields
int32_t	alt	in millimeters above WGS84 reference ellipsoid
int32_t	lat	in degrees*1e7
int32_t	lon	in degrees*1e7

NedCoor_i

struct NedCoor_i

vector in North East Down coordinates

Definition at line 68 of file pprz_geodetic_int.h.

Data Fields
int32_t	x	North.
int32_t	y	East.
int32_t	z	Down.

EnuCoor_i

struct EnuCoor_i

vector in East North Up coordinates

Definition at line 77 of file pprz_geodetic_int.h.

Data Fields
int32_t	x	East.
int32_t	y	North.
int32_t	z	Up.

UtmCoor_i

struct UtmCoor_i

position in UTM coordinates

Definition at line 86 of file pprz_geodetic_int.h.

Data Fields
int32_t	alt	in millimeters (above WGS84 reference ellipsoid or above MSL)
int32_t	east	in centimeters
int32_t	north	in centimeters
uint8_t	zone	UTM zone number.

LtpDef_i

struct LtpDef_i

definition of the local (flat earth) coordinate system

Defines the origin of the local coordinate system in ECEF and LLA coordinates and the roation matrix from ECEF to local frame

Definition at line 98 of file pprz_geodetic_int.h.

Collaboration diagram for LtpDef_i:

Data Fields
struct EcefCoor_i	ecef	Reference point in ecef.
int32_t	hmsl	Height above mean sea level in mm.
struct LlaCoor_i	lla	Reference point in lla.
struct Int32RMat	ltp_of_ecef	Rotation matrix.

Macro Definition Documentation

CM_OF_M

#define CM_OF_M

(

_m

)

((_m)*1e2)

Definition at line 131 of file pprz_geodetic_int.h.

DEG_OF_EM7DEG

#define DEG_OF_EM7DEG

(

_r

)

((_r)/1e7)

Definition at line 138 of file pprz_geodetic_int.h.

ECEF_BFP_OF_REAL

#define ECEF_BFP_OF_REAL	(		_o,
			_i
	)		VECT3_CM_OF_REAL(_o, _i)

Definition at line 172 of file pprz_geodetic_int.h.

ECEF_DOUBLE_OF_BFP

#define ECEF_DOUBLE_OF_BFP	(		_o,
			_i
	)		VECT3_DOUBLE_OF_CM(_o, _i)

Definition at line 174 of file pprz_geodetic_int.h.

ECEF_FLOAT_OF_BFP

#define ECEF_FLOAT_OF_BFP	(		_o,
			_i
	)		VECT3_FLOAT_OF_CM(_o, _i)

Definition at line 173 of file pprz_geodetic_int.h.

EM7DEG_OF_DEG

#define EM7DEG_OF_DEG

(

_r

)

((_r)*1e7)

Definition at line 137 of file pprz_geodetic_int.h.

EM7DEG_OF_RAD

#define EM7DEG_OF_RAD

(

_r

)

(DegOfRad(_r)*1e7)

Definition at line 139 of file pprz_geodetic_int.h.

EM7RAD_OF_RAD

#define EM7RAD_OF_RAD

(

_r

)

((_r)*1e7)

Definition at line 135 of file pprz_geodetic_int.h.

ENU_BFP_OF_REAL

#define ENU_BFP_OF_REAL	(		_o,
			_i
	)		NED_BFP_OF_REAL(_o, _i)

Definition at line 199 of file pprz_geodetic_int.h.

ENU_FLOAT_OF_BFP

#define ENU_FLOAT_OF_BFP	(		_o,
			_i
	)		NED_FLOAT_OF_BFP(_o, _i)

Definition at line 207 of file pprz_geodetic_int.h.

HIGH_RES_RMAT_BFP_OF_REAL

#define HIGH_RES_RMAT_BFP_OF_REAL	(		_ei,
			_ef
	)

Value:

    {                 \
    (_ei).m[0] = BFP_OF_REAL((_ef).m[0], HIGH_RES_TRIG_FRAC); \
    (_ei).m[1] = BFP_OF_REAL((_ef).m[1], HIGH_RES_TRIG_FRAC); \
    (_ei).m[2] = BFP_OF_REAL((_ef).m[2], HIGH_RES_TRIG_FRAC); \
    (_ei).m[3] = BFP_OF_REAL((_ef).m[3], HIGH_RES_TRIG_FRAC); \
    (_ei).m[4] = BFP_OF_REAL((_ef).m[4], HIGH_RES_TRIG_FRAC); \
    (_ei).m[5] = BFP_OF_REAL((_ef).m[5], HIGH_RES_TRIG_FRAC); \
    (_ei).m[6] = BFP_OF_REAL((_ef).m[6], HIGH_RES_TRIG_FRAC); \
    (_ei).m[7] = BFP_OF_REAL((_ef).m[7], HIGH_RES_TRIG_FRAC); \
    (_ei).m[8] = BFP_OF_REAL((_ef).m[8], HIGH_RES_TRIG_FRAC); \
  }

Definition at line 216 of file pprz_geodetic_int.h.

HIGH_RES_RMAT_DOUBLE_OF_BFP

#define HIGH_RES_RMAT_DOUBLE_OF_BFP	(		_ef,
			_ei
	)

Value:

    {                 \
    (_ef).m[0] = DOUBLE_OF_BFP((_ei).m[0], HIGH_RES_TRIG_FRAC); \
    (_ef).m[1] = DOUBLE_OF_BFP((_ei).m[1], HIGH_RES_TRIG_FRAC); \
    (_ef).m[2] = DOUBLE_OF_BFP((_ei).m[2], HIGH_RES_TRIG_FRAC); \
    (_ef).m[3] = DOUBLE_OF_BFP((_ei).m[3], HIGH_RES_TRIG_FRAC); \
    (_ef).m[4] = DOUBLE_OF_BFP((_ei).m[4], HIGH_RES_TRIG_FRAC); \
    (_ef).m[5] = DOUBLE_OF_BFP((_ei).m[5], HIGH_RES_TRIG_FRAC); \
    (_ef).m[6] = DOUBLE_OF_BFP((_ei).m[6], HIGH_RES_TRIG_FRAC); \
    (_ef).m[7] = DOUBLE_OF_BFP((_ei).m[7], HIGH_RES_TRIG_FRAC); \
    (_ef).m[8] = DOUBLE_OF_BFP((_ei).m[8], HIGH_RES_TRIG_FRAC); \
  }

Definition at line 240 of file pprz_geodetic_int.h.

HIGH_RES_RMAT_FLOAT_OF_BFP

#define HIGH_RES_RMAT_FLOAT_OF_BFP	(		_ef,
			_ei
	)

Value:

    {                 \
    (_ef).m[0] = FLOAT_OF_BFP((_ei).m[0], HIGH_RES_TRIG_FRAC); \
    (_ef).m[1] = FLOAT_OF_BFP((_ei).m[1], HIGH_RES_TRIG_FRAC); \
    (_ef).m[2] = FLOAT_OF_BFP((_ei).m[2], HIGH_RES_TRIG_FRAC); \
    (_ef).m[3] = FLOAT_OF_BFP((_ei).m[3], HIGH_RES_TRIG_FRAC); \
    (_ef).m[4] = FLOAT_OF_BFP((_ei).m[4], HIGH_RES_TRIG_FRAC); \
    (_ef).m[5] = FLOAT_OF_BFP((_ei).m[5], HIGH_RES_TRIG_FRAC); \
    (_ef).m[6] = FLOAT_OF_BFP((_ei).m[6], HIGH_RES_TRIG_FRAC); \
    (_ef).m[7] = FLOAT_OF_BFP((_ei).m[7], HIGH_RES_TRIG_FRAC); \
    (_ef).m[8] = FLOAT_OF_BFP((_ei).m[8], HIGH_RES_TRIG_FRAC); \
  }

Definition at line 228 of file pprz_geodetic_int.h.

HIGH_RES_TRIG_FRAC

#define HIGH_RES_TRIG_FRAC   20

Definition at line 142 of file pprz_geodetic_int.h.

INT32_VECT2_ENU_OF_NED

#define INT32_VECT2_ENU_OF_NED	(		_o,
			_i
	)

Value:

    {    \
    (_o).x = (_i).y;        \
    (_o).y = (_i).x;        \
  }

Definition at line 209 of file pprz_geodetic_int.h.

INT32_VECT2_NED_OF_ENU

#define INT32_VECT2_NED_OF_ENU	(		_o,
			_i
	)		INT32_VECT2_ENU_OF_NED(_o,_i)

Definition at line 214 of file pprz_geodetic_int.h.

INT32_VECT3_ENU_OF_NED

#define INT32_VECT3_ENU_OF_NED	(		_o,
			_i
	)		VECT3_ENU_OF_NED(_o,_i)

Definition at line 152 of file pprz_geodetic_int.h.

INT32_VECT3_NED_OF_ENU

#define INT32_VECT3_NED_OF_ENU	(		_o,
			_i
	)		VECT3_ENU_OF_NED(_o,_i)

Definition at line 151 of file pprz_geodetic_int.h.

LLA_BFP_OF_REAL

#define LLA_BFP_OF_REAL	(		_o,
			_i
	)

Value:

    {                \
    (_o).lat = (int32_t)EM7DEG_OF_RAD((_i).lat); \
    (_o).lon = (int32_t)EM7DEG_OF_RAD((_i).lon); \
    (_o).alt = (int32_t)MM_OF_M((_i).alt);       \
  }

Definition at line 176 of file pprz_geodetic_int.h.

LLA_DOUBLE_OF_BFP

#define LLA_DOUBLE_OF_BFP	(		_o,
			_i
	)

Value:

    {             \
    (_o).lat = RAD_OF_EM7DEG((double)(_i).lat); \
    (_o).lon = RAD_OF_EM7DEG((double)(_i).lon); \
    (_o).alt = M_OF_MM((double)(_i).alt);       \
  }

Definition at line 188 of file pprz_geodetic_int.h.

LLA_FLOAT_OF_BFP

#define LLA_FLOAT_OF_BFP	(		_o,
			_i
	)

Value:

    {              \
    (_o).lat = RAD_OF_EM7DEG((float)(_i).lat);  \
    (_o).lon = RAD_OF_EM7DEG((float)(_i).lon);  \
    (_o).alt = M_OF_MM((float)(_i).alt);        \
  }

Definition at line 182 of file pprz_geodetic_int.h.

M_OF_CM

#define M_OF_CM

(

_cm

)

((_cm)/1e2)

Definition at line 132 of file pprz_geodetic_int.h.

M_OF_MM

#define M_OF_MM

(

_mm

)

((_mm)/1e3)

Definition at line 134 of file pprz_geodetic_int.h.

MM_OF_M

#define MM_OF_M

(

_m

)

((_m)*1e3)

Definition at line 133 of file pprz_geodetic_int.h.

NED_BFP_OF_REAL

#define NED_BFP_OF_REAL	(		_o,
			_i
	)

Value:

    {       \
    (_o).x = (int32_t)POS_BFP_OF_REAL((_i).x);   \
    (_o).y = (int32_t)POS_BFP_OF_REAL((_i).y);   \
    (_o).z = (int32_t)POS_BFP_OF_REAL((_i).z);   \
  }

Definition at line 193 of file pprz_geodetic_int.h.

NED_FLOAT_OF_BFP

#define NED_FLOAT_OF_BFP	(		_o,
			_i
	)

Value:

    {      \
    (_o).x = POS_FLOAT_OF_BFP((_i).x);  \
    (_o).y = POS_FLOAT_OF_BFP((_i).y);  \
    (_o).z = POS_FLOAT_OF_BFP((_i).z);  \
  }

Definition at line 201 of file pprz_geodetic_int.h.

RAD_OF_EM7DEG

#define RAD_OF_EM7DEG

(

_r

)

(RadOfDeg(_r)/1e7)

Definition at line 140 of file pprz_geodetic_int.h.

RAD_OF_EM7RAD

#define RAD_OF_EM7RAD

(

_r

)

((_r)/1e7)

Definition at line 136 of file pprz_geodetic_int.h.

UTM_BFP_OF_REAL

#define UTM_BFP_OF_REAL	(		_o,
			_i
	)

Value:

    {              \
    (_o).east  = (int32_t)CM_OF_M((_i).east);  \
    (_o).north = (int32_t)CM_OF_M((_i).north); \
    (_o).alt   = (int32_t)MM_OF_M((_i).alt);   \
    (_o).zone  = (_i).zone;                    \
  }

Definition at line 266 of file pprz_geodetic_int.h.

UTM_DOUBLE_OF_BFP

#define UTM_DOUBLE_OF_BFP	(		_o,
			_i
	)

Value:

    {           \
    (_o).east  = M_OF_CM((double)(_i).east);  \
    (_o).north = M_OF_CM((double)(_i).north); \
    (_o).alt   = M_OF_MM((double)(_i).alt);   \
    (_o).zone  = (_i).zone;                   \
  }

Definition at line 259 of file pprz_geodetic_int.h.

UTM_FLOAT_OF_BFP

#define UTM_FLOAT_OF_BFP	(		_o,
			_i
	)

Value:

    {            \
    (_o).east  = M_OF_CM((float)(_i).east);   \
    (_o).north = M_OF_CM((float)(_i).north);  \
    (_o).alt   = M_OF_MM((float)(_i).alt);    \
    (_o).zone  = (_i).zone;                   \
  }

Definition at line 252 of file pprz_geodetic_int.h.

VECT3_CM_OF_REAL

#define VECT3_CM_OF_REAL	(		_o,
			_i
	)

Value:

    {          \
    (_o).x = (int32_t)CM_OF_M((_i).x);      \
    (_o).y = (int32_t)CM_OF_M((_i).y);      \
    (_o).z = (int32_t)CM_OF_M((_i).z);      \
  }

Definition at line 154 of file pprz_geodetic_int.h.

VECT3_DOUBLE_OF_CM

#define VECT3_DOUBLE_OF_CM	(		_o,
			_i
	)

Value:

    {        \
    (_o).x = M_OF_CM((double)(_i).x);       \
    (_o).y = M_OF_CM((double)(_i).y);       \
    (_o).z = M_OF_CM((double)(_i).z);       \
  }

Definition at line 166 of file pprz_geodetic_int.h.

VECT3_ENU_OF_NED

#define VECT3_ENU_OF_NED	(		_o,
			_i
	)

Value:

    {    \
    (_o).x = (_i).y;                  \
    (_o).y = (_i).x;                  \
    (_o).z = -(_i).z;                 \
  }

Definition at line 144 of file pprz_geodetic_int.h.

VECT3_FLOAT_OF_CM

#define VECT3_FLOAT_OF_CM	(		_o,
			_i
	)

Value:

    {         \
    (_o).x = M_OF_CM((float)(_i).x);        \
    (_o).y = M_OF_CM((float)(_i).y);        \
    (_o).z = M_OF_CM((float)(_i).z);        \
  }

Definition at line 160 of file pprz_geodetic_int.h.

VECT3_NED_OF_ENU

#define VECT3_NED_OF_ENU	(		_o,
			_i
	)		VECT3_ENU_OF_NED(_o,_i)

Definition at line 150 of file pprz_geodetic_int.h.

Function Documentation

ecef_of_enu_point_i()

void ecef_of_enu_point_i ( struct EcefCoor_i *  ecef, struct LtpDef_i *  def, struct EnuCoor_i *  enu  )

extern

Convert a point in local ENU to ECEF.

Parameters

[out]	ecef	ECEF point in cm
[in]	def	local coordinate system definition
[in]	enu	ENU point in cm

Definition at line 238 of file pprz_geodetic_int.c.

References ecef_of_enu_vect_i(), foo, and VECT3_ADD.

Referenced by ecef_of_ned_point_i(), and gps_datalink_publish().

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ecef_of_enu_pos_i()

void ecef_of_enu_pos_i ( struct EcefCoor_i *  ecef, struct LtpDef_i *  def, struct EnuCoor_i *  enu  )

extern

Convert a local ENU position to ECEF.

Parameters

[out]	ecef	ECEF position in cm
[in]	def	local coordinate system definition
[in]	enu	ENU position in meter << INT32_POS_FRAC

Definition at line 263 of file pprz_geodetic_int.c.

References ecef_of_enu_vect_i(), foo, INT32_POS_FRAC, INT32_VECT3_RSHIFT, VECT3_ADD, and VECT3_SMUL.

Referenced by ecef_of_ned_pos_i(), stateCalcPositionLla_i(), and waypoint_globalize().

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ecef_of_enu_vect_i()

void ecef_of_enu_vect_i ( struct EcefCoor_i *  ecef, struct LtpDef_i *  def, struct EnuCoor_i *  enu  )

extern

Rotate a vector from ENU to ECEF.

Parameters

[out]	ecef	vector in ECEF coordinate system
[in]	def	local coordinate system definition
[in]	enu	vector in ENU coordinate system

Definition at line 199 of file pprz_geodetic_int.c.

References foo, HIGH_RES_TRIG_FRAC, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by ecef_of_enu_point_i(), ecef_of_enu_pos_i(), ecef_of_ned_vect_i(), and gps_datalink_publish().

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ecef_of_lla_i()

void ecef_of_lla_i ( struct EcefCoor_i *  out, struct LlaCoor_i *  in  )

extern

Convert a LLA to ECEF.

Parameters

[out]	out	ECEF in cm
[in]	in	LLA in degrees*1e7 and mm above ellipsoid

Definition at line 392 of file pprz_geodetic_int.c.

References ECEF_BFP_OF_REAL, ecef_of_lla_d(), ecef_of_lla_f(), foo, LLA_DOUBLE_OF_BFP, and LLA_FLOAT_OF_BFP.

Referenced by ecef_int_from_gps(), enu_of_lla_point_i(), enu_of_lla_pos_i(), enu_of_lla_vect_i(), ins_ext_pose_init_from_flightplan(), ins_float_invariant_init(), ins_flow_init(), ins_gps_passthrough_init(), ins_mekf_wind_wrapper_init(), ltp_def_from_lla_i(), ned_of_lla_point_i(), ned_of_lla_pos_i(), ned_of_lla_vect_i(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), and stateCalcPositionNed_f().

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ecef_of_ned_point_i()

void ecef_of_ned_point_i ( struct EcefCoor_i *  ecef, struct LtpDef_i *  def, struct NedCoor_i *  ned  )

extern

Convert a point in local NED to ECEF.

Parameters

[out]	ecef	ECEF point in cm
[in]	def	local coordinate system definition
[in]	ned	NED point in cm

Definition at line 250 of file pprz_geodetic_int.c.

References ecef_of_enu_point_i(), ENU_OF_TO_NED, and foo.

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ecef_of_ned_pos_i()

void ecef_of_ned_pos_i ( struct EcefCoor_i *  ecef, struct LtpDef_i *  def, struct NedCoor_i *  ned  )

extern

Convert a local NED position to ECEF.

Parameters

[out]	ecef	ECEF position in cm
[in]	def	local coordinate system definition
[in]	ned	NED position in meter << INT32_POS_FRAC

Definition at line 283 of file pprz_geodetic_int.c.

References ecef_of_enu_pos_i(), ENU_OF_TO_NED, and foo.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), and stateCalcPositionLla_i().

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ecef_of_ned_vect_i()

void ecef_of_ned_vect_i ( struct EcefCoor_i *  ecef, struct LtpDef_i *  def, struct NedCoor_i *  ned  )

extern

Rotate a vector from NED to ECEF.

Parameters

[out]	ecef	vector in ECEF coordinate system
[in]	def	local coordinate system definition
[in]	ned	vector in NED coordinate system

Definition at line 225 of file pprz_geodetic_int.c.

References ecef_of_enu_vect_i(), ENU_OF_TO_NED, and foo.

Referenced by ecef_vel_int_from_gps(), nmea_parse_perdcrv(), stateCalcAccelEcef_i(), and stateCalcSpeedEcef_i().

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enu_of_ecef_point_i()

void enu_of_ecef_point_i ( struct EnuCoor_i *  enu, struct LtpDef_i *  def, struct EcefCoor_i *  ecef  )

extern

Convert a point from ECEF to local ENU.

Parameters

[out]	enu	ENU point in cm
[in]	def	local coordinate system definition
[in]	ecef	ECEF point in cm

Definition at line 90 of file pprz_geodetic_int.c.

References foo, HIGH_RES_TRIG_FRAC, VECT3_DIFF, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by enu_of_ecef_pos_i(), enu_of_lla_point_i(), and ned_of_ecef_point_i().

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enu_of_ecef_pos_i()

void enu_of_ecef_pos_i ( struct EnuCoor_i *  enu, struct LtpDef_i *  def, struct EcefCoor_i *  ecef  )

extern

Convert a ECEF position to local ENU.

Parameters

[out]	enu	ENU position in meter << INT32_POS_FRAC
[in]	def	local coordinate system definition
[in]	ecef	ECEF position in cm

Definition at line 129 of file pprz_geodetic_int.c.

References enu_of_ecef_point_i(), foo, INT32_POS_FRAC, INT32_VECT3_LSHIFT, and VECT3_SDIV.

Referenced by enu_of_lla_pos_i(), ned_of_ecef_pos_i(), stateCalcPositionEnu_f(), and stateCalcPositionEnu_i().

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enu_of_ecef_vect_i()

void enu_of_ecef_vect_i ( struct EnuCoor_i *  enu, struct LtpDef_i *  def, struct EcefCoor_i *  ecef  )

extern

Rotate a vector from ECEF to ENU.

Parameters

[out]	enu	vector in ENU coordinate system
[in]	def	local coordinate system definition
[in]	ecef	vector in ECEF coordinate system

Definition at line 162 of file pprz_geodetic_int.c.

References foo, HIGH_RES_TRIG_FRAC, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by enu_of_lla_vect_i(), ned_of_ecef_vect_i(), and stateCalcSpeedEnu_i().

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enu_of_lla_point_i()

void enu_of_lla_point_i ( struct EnuCoor_i *  enu, struct LtpDef_i *  def, struct LlaCoor_i *  lla  )

extern

Convert a point from LLA to local ENU.

Parameters

[out]	enu	ENU point in cm
[in]	def	local coordinate system definition
[in]	lla	LLA point in 1e7deg and mm

Definition at line 295 of file pprz_geodetic_int.c.

References ecef_of_lla_i(), enu_of_ecef_point_i(), and foo.

Referenced by acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), follow_me_periodic(), mission_point_of_lla(), and waypoint_localize().

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enu_of_lla_pos_i()

void enu_of_lla_pos_i ( struct EnuCoor_i *  enu, struct LtpDef_i *  def, struct LlaCoor_i *  lla  )

extern

Convert a point from LLA to local ENU.

Parameters

[out]	enu	ENU point in meter << INT32_POS_FRAC
[in]	def	local coordinate system definition
[in]	lla	LLA point in 1e7deg and mm

Definition at line 319 of file pprz_geodetic_int.c.

References ecef_of_lla_i(), enu_of_ecef_pos_i(), and foo.

Referenced by stateCalcPositionEnu_i().

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enu_of_lla_vect_i()

void enu_of_lla_vect_i ( struct EnuCoor_i *  enu, struct LtpDef_i *  def, struct LlaCoor_i *  lla  )

extern

Definition at line 338 of file pprz_geodetic_int.c.

References ecef_of_lla_i(), enu_of_ecef_vect_i(), and foo.

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lla_of_ecef_i()

void lla_of_ecef_i ( struct LlaCoor_i *  out, struct EcefCoor_i *  in  )

extern

Convert a ECEF to LLA.

Parameters

[out]	out	LLA in degrees*1e7 and mm above ellipsoid
[in]	in	ECEF in cm

Definition at line 363 of file pprz_geodetic_int.c.

References ECEF_DOUBLE_OF_BFP, ECEF_FLOAT_OF_BFP, foo, LLA_BFP_OF_REAL, lla_of_ecef_d(), and lla_of_ecef_f().

Referenced by gps_datalink_publish(), lla_int_from_gps(), ltp_def_from_ecef_i(), stateCalcPositionLla_i(), and waypoint_globalize().

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lla_of_utm_i()

void lla_of_utm_i ( struct LlaCoor_i *  lla, struct UtmCoor_i *  utm  )

extern

Convert a UTM to LLA.

Parameters

[out]	lla	in degrees*1e7, alt is directly copied from utm
[in]	utm	in cm, alt in mm

Definition at line 452 of file pprz_geodetic_int.c.

References foo, LLA_BFP_OF_REAL, lla_of_utm_d(), lla_of_utm_f(), UTM_DOUBLE_OF_BFP, and UTM_FLOAT_OF_BFP.

Referenced by acInfoCalcPositionLla_f(), acInfoCalcPositionLla_i(), and set_ac_info_utm().

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ltp_def_from_ecef_i()

void ltp_def_from_ecef_i ( struct LtpDef_i *  def, struct EcefCoor_i *  ecef  )

extern

Definition at line 60 of file pprz_geodetic_int.c.

References foo, lla_of_ecef_i(), ltp_of_ecef_rmat_from_lla_i(), and VECT3_COPY.

Referenced by ecef_vel_int_from_gps(), gps_skytraq_read_message(), ins_ext_pose_init_from_flightplan(), ins_float_invariant_init(), ins_float_invariant_reset_ref(), ins_flow_init(), ins_gps_passthrough_init(), ins_mekf_wind_wrapper_init(), ned_vel_int_from_gps(), nmea_parse_perdcrv(), reset_cb(), reset_cb(), reset_ref(), reset_ref(), and reset_ref().

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ltp_def_from_lla_i()

void ltp_def_from_lla_i ( struct LtpDef_i *  def, struct LlaCoor_i *  lla  )

extern

Definition at line 72 of file pprz_geodetic_int.c.

References ecef_of_lla_i(), foo, LLA_COPY, and ltp_of_ecef_rmat_from_lla_i().

Referenced by dw1000_arduino_init(), ecef_vel_int_from_gps(), gps_datalink_init(), ins_ekf2_init(), ins_ekf2_update(), ins_float_invariant_reset_vertical_ref(), ins_init_origin_i_from_flightplan(), ned_vel_int_from_gps(), reset_ref(), reset_vertical_ref(), reset_vertical_ref(), reset_vertical_ref(), reset_vertical_ref(), and sensors_hitl_parse_HITL_GPS().

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ltp_of_ecef_rmat_from_lla_i()

void ltp_of_ecef_rmat_from_lla_i ( struct Int32RMat *  ltp_of_ecef, struct LlaCoor_i *  lla  )

extern

Definition at line 34 of file pprz_geodetic_int.c.

References BFP_OF_REAL, foo, HIGH_RES_TRIG_FRAC, LlaCoor_i::lat, LlaCoor_i::lon, Int32RMat::m, and RAD_OF_EM7DEG.

Referenced by ltp_def_from_ecef_i(), and ltp_def_from_lla_i().

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ned_of_ecef_point_i()

void ned_of_ecef_point_i ( struct NedCoor_i *  ned, struct LtpDef_i *  def, struct EcefCoor_i *  ecef  )

extern

Convert a point from ECEF to local NED.

Parameters

[out]	ned	NED point in cm
[in]	def	local coordinate system definition
[in]	ecef	ECEF point in cm

Definition at line 116 of file pprz_geodetic_int.c.

References enu_of_ecef_point_i(), ENU_OF_TO_NED, and foo.

Referenced by gps_cb(), gps_cb(), gps_cb(), ins_float_invariant_update_gps(), ins_int_update_gps(), ins_module_update_gps(), and ned_of_lla_point_i().

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ned_of_ecef_pos_i()

void ned_of_ecef_pos_i ( struct NedCoor_i *  ned, struct LtpDef_i *  def, struct EcefCoor_i *  ecef  )

extern

Convert a ECEF position to local NED.

Parameters

[out]	ned	NED position in meter << INT32_POS_FRAC
[in]	def	local coordinate system definition
[in]	ecef	ECEF position in cm

Definition at line 149 of file pprz_geodetic_int.c.

References enu_of_ecef_pos_i(), ENU_OF_TO_NED, and foo.

Referenced by ned_of_lla_pos_i(), stateCalcPositionNed_f(), and stateCalcPositionNed_i().

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ned_of_ecef_vect_i()

void ned_of_ecef_vect_i ( struct NedCoor_i *  ned, struct LtpDef_i *  def, struct EcefCoor_i *  ecef  )

extern

Rotate a vector from ECEF to NED.

Parameters

[out]	ned	vector in NED coordinate system
[in]	def	local coordinate system definition
[in]	ecef	vector in ECEF coordinate system

Definition at line 186 of file pprz_geodetic_int.c.

References enu_of_ecef_vect_i(), ENU_OF_TO_NED, and foo.

Referenced by gps_cb(), gps_cb(), gps_skytraq_read_message(), ins_int_update_gps(), ins_module_update_gps(), ned_of_lla_vect_i(), ned_vel_int_from_gps(), sensors_hitl_parse_HITL_GPS(), stateCalcAccelNed_i(), stateCalcHorizontalSpeedNorm_i(), and stateCalcSpeedNed_i().

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ned_of_lla_point_i()

void ned_of_lla_point_i ( struct NedCoor_i *  ned, struct LtpDef_i *  def, struct LlaCoor_i *  lla  )

extern

Convert a point from LLA to local NED.

Parameters

[out]	ned	NED point in cm
[in]	def	local coordinate system definition
[in]	lla	LLA point in 1e7deg and mm

Definition at line 307 of file pprz_geodetic_int.c.

References ecef_of_lla_i(), foo, and ned_of_ecef_point_i().

Referenced by follow_me_set_wp(), mavlink_common_message_handler(), target_get_pos(), and target_pos_set_current_offset().

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ned_of_lla_pos_i()

void ned_of_lla_pos_i ( struct NedCoor_i *  ned, struct LtpDef_i *  def, struct LlaCoor_i *  lla  )

extern

Convert a point from LLA to local NED.

Parameters

[out]	ned	NED point in meter << INT32_POS_FRAC
[in]	def	local coordinate system definition
[in]	lla	LLA point in 1e7deg and mm

Definition at line 331 of file pprz_geodetic_int.c.

References ecef_of_lla_i(), foo, and ned_of_ecef_pos_i().

Referenced by stateCalcPositionNed_i().

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ned_of_lla_vect_i()

void ned_of_lla_vect_i ( struct NedCoor_i *  ned, struct LtpDef_i *  def, struct LlaCoor_i *  lla  )

extern

Definition at line 345 of file pprz_geodetic_int.c.

References ecef_of_lla_i(), foo, and ned_of_ecef_vect_i().

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utm_of_lla_i()

void utm_of_lla_i ( struct UtmCoor_i *  utm, struct LlaCoor_i *  lla  )

extern

Convert a LLA to UTM.

Parameters

[out]	utm	in cm, alt is directly copied from lla
[in]	lla	in degrees*1e7, alt in mm

Definition at line 423 of file pprz_geodetic_int.c.

References foo, LLA_DOUBLE_OF_BFP, LLA_FLOAT_OF_BFP, UTM_BFP_OF_REAL, utm_of_lla_d(), utm_of_lla_f(), UtmCoor_d::zone, and UtmCoor_f::zone.

Referenced by acInfoCalcPositionUtm_f(), acInfoCalcPositionUtm_i(), set_ac_info_utm(), utm_float_from_gps(), and utm_int_from_gps().

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