Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
trilateration.h
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
27 #ifndef TRILATERATION_H
28 #define TRILATERATION_H
29 
30 #include "std.h"
32 
34 struct Anchor {
35  float distance;
36  float time;
37  struct EnuCoor_f pos;
39  bool updated;
40 };
41 
46 extern int trilateration_init(struct Anchor *anchors);
47 
54 extern int trilateration_compute(struct Anchor *anchors, struct EnuCoor_f *pos);
55 
56 #endif
57 
58 
unsigned short uint16_t
Definition: types.h:16
bool updated
new data available
Definition: trilateration.h:39
uint16_t id
anchor ID
Definition: trilateration.h:38
vector in East North Up coordinates Units: meters
int trilateration_init(struct Anchor *anchors)
Init internal trilateration structures.
Definition: trilateration.c:39
int trilateration_compute(struct Anchor *anchors, struct EnuCoor_f *pos)
Compute trilateration based on the latest measurments.
Definition: trilateration.c:87
Paparazzi floating point math for geodetic calculations.
float time
time of the last received data
Definition: trilateration.h:36
float distance
last measured distance
Definition: trilateration.h:35
Anchor structure.
Definition: trilateration.h:34
struct EnuCoor_f pos
position of the anchor
Definition: trilateration.h:37