pprz_geodetic_float.h File Reference

Paparazzi floating point math for geodetic calculations. More...

#include "pprz_geodetic.h"
#include "pprz_algebra_float.h"
#include "std.h"

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Data Structures
struct	EcefCoor_f
	vector in EarthCenteredEarthFixed coordinates More...
struct	LlaCoor_f
	vector in Latitude, Longitude and Altitude More...
struct	NedCoor_f
	vector in North East Down coordinates Units: meters More...
struct	EnuCoor_f
	vector in East North Up coordinates Units: meters More...
struct	UtmCoor_f
	position in UTM coordinates Units: meters More...
struct	LtpDef_f
	definition of the local (flat earth) coordinate system More...

Functions
void	lla_of_utm_f (struct LlaCoor_f *lla, struct UtmCoor_f *utm)
void	utm_of_lla_f (struct UtmCoor_f *utm, struct LlaCoor_f *lla)
void	ltp_def_from_ecef_f (struct LtpDef_f *def, struct EcefCoor_f *ecef)
void	ltp_def_from_lla_f (struct LtpDef_f *def, struct LlaCoor_f *lla)
void	lla_of_ecef_f (struct LlaCoor_f *out, struct EcefCoor_f *in)
void	ecef_of_lla_f (struct EcefCoor_f *out, struct LlaCoor_f *in)
void	enu_of_ecef_point_f (struct EnuCoor_f *enu, struct LtpDef_f *def, struct EcefCoor_f *ecef)
void	ned_of_ecef_point_f (struct NedCoor_f *ned, struct LtpDef_f *def, struct EcefCoor_f *ecef)
void	enu_of_ecef_vect_f (struct EnuCoor_f *enu, struct LtpDef_f *def, struct EcefCoor_f *ecef)
void	ned_of_ecef_vect_f (struct NedCoor_f *ned, struct LtpDef_f *def, struct EcefCoor_f *ecef)
void	enu_of_lla_point_f (struct EnuCoor_f *enu, struct LtpDef_f *def, struct LlaCoor_f *lla)
void	ned_of_lla_point_f (struct NedCoor_f *ned, struct LtpDef_f *def, struct LlaCoor_f *lla)
void	ecef_of_enu_point_f (struct EcefCoor_f *ecef, struct LtpDef_f *def, struct EnuCoor_f *enu)
void	ecef_of_ned_point_f (struct EcefCoor_f *ecef, struct LtpDef_f *def, struct NedCoor_f *ned)
void	ecef_of_enu_vect_f (struct EcefCoor_f *ecef, struct LtpDef_f *def, struct EnuCoor_f *enu)
void	ecef_of_ned_vect_f (struct EcefCoor_f *ecef, struct LtpDef_f *def, struct NedCoor_f *ned)

Detailed Description

Paparazzi floating point math for geodetic calculations.

Definition in file pprz_geodetic_float.h.

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Data Structure Documentation

struct EcefCoor_f

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: meters

Definition at line 45 of file pprz_geodetic_float.h.

Data Fields
float	x	in meters
float	y	in meters
float	z	in meters

struct LlaCoor_f

vector in Latitude, Longitude and Altitude

Definition at line 54 of file pprz_geodetic_float.h.

Data Fields
float	alt	in meters (normally above WGS84 reference ellipsoid)
float	lat	in radians
float	lon	in radians

struct NedCoor_f

vector in North East Down coordinates Units: meters

Definition at line 63 of file pprz_geodetic_float.h.

Data Fields
float	x	in meters
float	y	in meters
float	z	in meters

struct EnuCoor_f

vector in East North Up coordinates Units: meters

Definition at line 72 of file pprz_geodetic_float.h.

Data Fields
float	x	in meters
float	y	in meters
float	z	in meters

struct UtmCoor_f

position in UTM coordinates Units: meters

Definition at line 81 of file pprz_geodetic_float.h.

Data Fields
float	alt	in meters (above WGS84 reference ellipsoid or above MSL)
float	east	in meters
float	north	in meters
uint8_t	zone	UTM zone number.

struct LtpDef_f

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 93 of file pprz_geodetic_float.h.

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Data Fields
struct EcefCoor_f	ecef	origin of local frame in ECEF
float	hmsl	Height above mean sea level in meters.
struct LlaCoor_f	lla	origin of local frame in LLA
struct FloatRMat	ltp_of_ecef	rotation from ECEF to local frame

Function Documentation

void ecef_of_enu_point_f	(	struct EcefCoor_f *	ecef,
		struct LtpDef_f *	def,
		struct EnuCoor_f *	enu
	)

Definition at line 129 of file pprz_geodetic_float.c.

References LtpDef_f::ecef, LtpDef_f::ltp_of_ecef, DoubleRMat::m, FloatRMat::m, MAT33_VECT3_TRANSP_MUL, EcefCoor_f::x, EcefCoor_d::x, EnuCoor_f::x, EcefCoor_f::y, EcefCoor_d::y, EnuCoor_f::y, EcefCoor_f::z, EcefCoor_d::z, and EnuCoor_f::z.

Referenced by ecef_of_ned_point_f(), and stateCalcPositionLla_f().

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void ecef_of_enu_vect_f	(	struct EcefCoor_f *	ecef,
		struct LtpDef_f *	def,
		struct EnuCoor_f *	enu
	)

Definition at line 164 of file pprz_geodetic_float.c.

References LtpDef_f::ltp_of_ecef, DoubleRMat::m, FloatRMat::m, MAT33_VECT3_TRANSP_MUL, EcefCoor_f::x, EcefCoor_d::x, EnuCoor_f::x, EcefCoor_f::y, EcefCoor_d::y, EnuCoor_f::y, EcefCoor_f::z, EcefCoor_d::z, and EnuCoor_f::z.

Referenced by ecef_of_ned_vect_f().

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void ecef_of_lla_f	(	struct EcefCoor_f *	out,
		struct LlaCoor_f *	in
	)

Definition at line 241 of file pprz_geodetic_float.c.

References LlaCoor_f::alt, LlaCoor_f::lat, LlaCoor_f::lon, EcefCoor_f::x, EcefCoor_f::y, and EcefCoor_f::z.

Referenced by ecef_of_lla_i(), enu_of_lla_point_f(), ltp_def_from_lla_f(), ned_of_lla_point_f(), nmea_parse_GGA(), stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_i(), and stateCalcPositionNed_i().

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void ecef_of_ned_point_f	(	struct EcefCoor_f *	ecef,
		struct LtpDef_f *	def,
		struct NedCoor_f *	ned
	)

Definition at line 157 of file pprz_geodetic_float.c.

References ecef_of_enu_point_f(), and ENU_OF_TO_NED.

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

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void ecef_of_ned_vect_f	(	struct EcefCoor_f *	ecef,
		struct LtpDef_f *	def,
		struct NedCoor_f *	ned
	)

Definition at line 192 of file pprz_geodetic_float.c.

References ecef_of_enu_vect_f(), and ENU_OF_TO_NED.

Referenced by stateCalcAccelEcef_f(), and stateCalcSpeedEcef_f().

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void enu_of_ecef_point_f	(	struct EnuCoor_f *	enu,
		struct LtpDef_f *	def,
		struct EcefCoor_f *	ecef
	)

Definition at line 85 of file pprz_geodetic_float.c.

References LtpDef_f::ecef, LtpDef_f::ltp_of_ecef, MAT33_VECT3_MUL, and VECT3_DIFF.

Referenced by enu_of_lla_point_f(), ned_of_ecef_point_f(), stateCalcPositionEnu_f(), and stateCalcPositionEnu_i().

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void enu_of_ecef_vect_f	(	struct EnuCoor_f *	enu,
		struct LtpDef_f *	def,
		struct EcefCoor_f *	ecef
	)

Definition at line 100 of file pprz_geodetic_float.c.

References LtpDef_f::ltp_of_ecef, and MAT33_VECT3_MUL.

Referenced by ned_of_ecef_vect_f(), and stateCalcSpeedEnu_f().

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void enu_of_lla_point_f	(	struct EnuCoor_f *	enu,
		struct LtpDef_f *	def,
		struct LlaCoor_f *	lla
	)

Definition at line 112 of file pprz_geodetic_float.c.

References ecef_of_lla_f(), and enu_of_ecef_point_f().

Referenced by acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), and stateCalcPositionEnu_f().

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void lla_of_ecef_f	(	struct LlaCoor_f *	out,
		struct EcefCoor_f *	in
	)

Definition at line 204 of file pprz_geodetic_float.c.

References LlaCoor_f::alt, LlaCoor_f::lat, LlaCoor_f::lon, P, EcefCoor_f::x, EcefCoor_f::y, EcefCoor_f::z, and z2.

Referenced by lla_of_ecef_i(), ltp_def_from_ecef_f(), and stateCalcPositionLla_f().

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void lla_of_utm_f	(	struct LlaCoor_f *	lla,
		struct UtmCoor_f *	utm
	)

Definition at line 344 of file pprz_geodetic_float.c.

References LlaCoor_f::alt, UtmCoor_f::alt, CScal, CSin, CSub, DELTA_EAST, DELTA_NORTH, E, UtmCoor_f::east, complex::im, inverse_isometric_latitude_f(), isometric_latitude_fast_f(), LambdaOfUtmZone, LlaCoor_f::lat, LlaCoor_f::lon, N, UtmCoor_f::north, complex::re, scale, serie_coeff_proj_mercator, serie_coeff_proj_mercator_inverse, and UtmCoor_f::zone.

Referenced by acInfoCalcPositionLla_f(), acInfoCalcPositionLla_i(), ins_reset_utm_zone(), lla_of_utm_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), and vPoint().

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void ltp_def_from_ecef_f	(	struct LtpDef_f *	def,
		struct EcefCoor_f *	ecef
	)

Definition at line 36 of file pprz_geodetic_float.c.

References LtpDef_f::ecef, LlaCoor_f::lat, LtpDef_f::lla, lla_of_ecef_f(), LlaCoor_f::lon, LtpDef_f::ltp_of_ecef, FloatRMat::m, and VECT3_COPY.

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void ltp_def_from_lla_f	(	struct LtpDef_f *	def,
		struct LlaCoor_f *	lla
	)

Definition at line 60 of file pprz_geodetic_float.c.

References LtpDef_f::ecef, ecef_of_lla_f(), LlaCoor_f::lat, LtpDef_f::lla, LLA_COPY, LlaCoor_f::lon, LtpDef_f::ltp_of_ecef, and FloatRMat::m.

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void ned_of_ecef_point_f	(	struct NedCoor_f *	ned,
		struct LtpDef_f *	def,
		struct EcefCoor_f *	ecef
	)

Definition at line 92 of file pprz_geodetic_float.c.

References enu_of_ecef_point_f(), and ENU_OF_TO_NED.

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

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void ned_of_ecef_vect_f	(	struct NedCoor_f *	ned,
		struct LtpDef_f *	def,
		struct EcefCoor_f *	ecef
	)

Definition at line 105 of file pprz_geodetic_float.c.

References enu_of_ecef_vect_f(), and ENU_OF_TO_NED.

Referenced by gps_cb(), ins_float_invariant_update_gps(), stateCalcAccelNed_f(), stateCalcHorizontalSpeedNorm_i(), and stateCalcSpeedNed_f().

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void ned_of_lla_point_f	(	struct NedCoor_f *	ned,
		struct LtpDef_f *	def,
		struct LlaCoor_f *	lla
	)

Definition at line 119 of file pprz_geodetic_float.c.

References ecef_of_lla_f(), and ned_of_ecef_point_f().

Referenced by stateCalcPositionNed_f().

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void utm_of_lla_f	(	struct UtmCoor_f *	utm,
		struct LlaCoor_f *	lla
	)

Definition at line 308 of file pprz_geodetic_float.c.

References LlaCoor_f::alt, UtmCoor_f::alt, CAdd, CScal, CSin, DELTA_EAST, DELTA_NORTH, E, UtmCoor_f::east, complex::im, isometric_latitude_f(), isometric_latitude_fast_f(), LambdaOfUtmZone, LlaCoor_f::lat, LlaCoor_f::lon, N, UtmCoor_f::north, complex::re, serie_coeff_proj_mercator, UtmZoneOfLlaLonRad, and UtmCoor_f::zone.

Referenced by acInfoCalcPositionUtm_f(), acInfoCalcPositionUtm_i(), copilot_parse_move_wp_dl(), firmware_parse_msg(), ins_reset_utm_zone(), mission_point_of_lla(), sim_overwrite_ins(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), and utm_of_lla_i().

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