Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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pprz_geodetic.h
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1 /*
2  * Copyright (C) 2008-2014 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
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13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
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17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
34 #ifndef PPRZ_GEODETIC_H
35 #define PPRZ_GEODETIC_H
36 
37 #ifdef __cplusplus
38 extern "C" {
39 #endif
40 
41 #define ENU_OF_TO_NED(_po, _pi) { \
42  (_po).x = (_pi).y; \
43  (_po).y = (_pi).x; \
44  (_po).z = -(_pi).z; \
45  }
46 
47 #define VECT2_ENU_OF_TO_NED(_po, _pi) { \
48  (_po).x = (_pi).y; \
49  (_po).y = (_pi).x; \
50  }
51 
52 #define LLA_ASSIGN(_pos,_lat,_lon,_alt){ \
53  (_pos).lat = (_lat); \
54  (_pos).lon = (_lon); \
55  (_pos).alt = (_alt); \
56  }
57 
58 #define LLA_COPY(_pos1,_pos2){ \
59  (_pos1).lat = (_pos2).lat; \
60  (_pos1).lon = (_pos2).lon; \
61  (_pos1).alt = (_pos2).alt; \
62  }
63 
64 #define LTP_DEF_COPY(_def1,_def2){ \
65  LLA_COPY((_def1).lla, (_def2).lla); \
66  VECT3_COPY((_def1).ecef, (_def2).ecef); \
67  RMAT_COPY((_def1).ltp_of_ecef, (_def2).ltp_of_ecef); \
68  (_def1).hmsl = (_def2).hmsl; \
69  }
70 
71 #define UTM_COPY(_u1, _u2) { \
72  (_u1).north = (_u2).north; \
73  (_u1).east = (_u2).east; \
74  (_u1).alt = (_u2).alt; \
75  (_u1).zone = (_u2).zone; \
76  }
77 
78 #define ENU_OF_UTM_DIFF(_pos, _utm1, _utm2) { \
79  (_pos).x = (_utm1).east - (_utm2).east; \
80  (_pos).y = (_utm1).north - (_utm2).north; \
81  (_pos).z = (_utm1).alt - (_utm2).alt; \
82  }
83 
84 #define NED_OF_UTM_DIFF(_pos, _utm1, _utm2) { \
85  (_pos).x = (_utm1).north - (_utm2).north; \
86  (_pos).y = (_utm1).east - (_utm2).east; \
87  (_pos).z = -(_utm1).alt + (_utm2).alt; \
88  }
89 
90 #define UTM_OF_ENU_ADD(_utm, _pos, _utm0) { \
91  (_utm).east = (_utm0).east + (_pos).x; \
92  (_utm).north = (_utm0).north + (_pos).y; \
93  (_utm).alt = (_utm0).alt + (_pos).z; \
94  }
95 
96 #define UTM_OF_NED_ADD(_utm, _pos, _utm0) { \
97  (_utm).east = (_utm0).east + (_pos).y; \
98  (_utm).north = (_utm0).north + (_pos).x; \
99  (_utm).alt = (_utm0).alt - (_pos).z; \
100  }
101 
102 #ifdef __cplusplus
103 } /* extern "C" */
104 #endif
105 
106 #endif /* PPRZ_GEODETIC_H */
107