#include <inttypes.h>
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include "vector2.h"
#include "vector3.h"

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Macros
#define	LOCATION_SCALING_FACTOR 0.011131884502145034f

#define	LOCATION_SCALING_FACTOR_INV 89.83204953368922f

Functions
float	longitude_scale (const struct Location &loc)

float	get_distance (const struct Location &loc1, const struct Location &loc2)

uint32_t	get_distance_cm (const struct Location &loc1, const struct Location &loc2)

float	get_horizontal_distance_cm (const Vector3f &origin, const Vector3f &destination)

int32_t	get_bearing_cd (const struct Location &loc1, const struct Location &loc2)

float	get_bearing_cd (const Vector3f &origin, const Vector3f &destination)

bool	location_passed_point (const struct Location &location, const struct Location &point1, const struct Location &point2)

float	location_path_proportion (const struct Location &location, const struct Location &point1, const struct Location &point2)

void	location_update (struct Location &loc, float bearing, float distance)

void	location_offset (struct Location &loc, float ofs_north, float ofs_east)

Vector2f	location_diff (const struct Location &loc1, const struct Location &loc2)

Vector3f	location_3d_diff_NED (const struct Location &loc1, const struct Location &loc2)

bool	locations_are_same (const struct Location &loc1, const struct Location &loc2)

bool	location_sanitize (const struct Location &defaultLoc, struct Location &loc)

void	print_latlon (AP_HAL::BetterStream *s, int32_t lat_or_lon)

void	wgsllh2ecef (const Vector3d &llh, Vector3d &ecef)

void	wgsecef2llh (const Vector3d &ecef, Vector3d &llh)

bool	check_lat (float lat)

bool	check_lng (float lng)

bool	check_lat (int32_t lat)

bool	check_lng (int32_t lng)

bool	check_latlng (float lat, float lng)

bool	check_latlng (int32_t lat, int32_t lng)

bool	check_latlng (Location loc)

Macro Definition Documentation

◆ LOCATION_SCALING_FACTOR

#define LOCATION_SCALING_FACTOR 0.011131884502145034f

Definition at line 13 of file location.h.

Referenced by get_distance(), Location_Class::get_distance(), location_3d_diff_NED(), and location_diff().

◆ LOCATION_SCALING_FACTOR_INV

#define LOCATION_SCALING_FACTOR_INV 89.83204953368922f

Definition at line 15 of file location.h.

Referenced by location_offset(), and Location_Class::offset().

Function Documentation

◆ check_lat() [1/2]

bool check_lat ( float lat )

Definition at line 215 of file location.cpp.

Referenced by check_latlng(), AP_Mission::mavlink_int_to_mission_cmd(), and AP_Mission::mavlink_to_mission_cmd().

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◆ check_lat() [2/2]

bool check_lat ( int32_t lat )

Definition at line 223 of file location.cpp.

◆ check_latlng() [1/3]

bool check_latlng	(	float	lat,
		float	lng
	)

Definition at line 231 of file location.cpp.

Referenced by AC_Fence::handle_msg(), GCS_MAVLINK::handle_rally_point(), GCS_MAVLINK::handle_set_gps_global_origin(), location_sanitize(), and GCS_MAVLINK::set_ekf_origin().

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◆ check_latlng() [2/3]

bool check_latlng	(	int32_t	lat,
		int32_t	lng
	)

Definition at line 235 of file location.cpp.

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◆ check_latlng() [3/3]

bool check_latlng ( Location loc )

Definition at line 239 of file location.cpp.

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◆ check_lng() [1/2]

bool check_lng ( float lng )

Definition at line 219 of file location.cpp.

Referenced by check_latlng(), AP_Mission::mavlink_int_to_mission_cmd(), and AP_Mission::mavlink_to_mission_cmd().

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◆ check_lng() [2/2]

bool check_lng ( int32_t lng )

Definition at line 227 of file location.cpp.

◆ get_bearing_cd() [1/2]

int32_t get_bearing_cd	(	const struct Location &	loc1,
		const struct Location &	loc2
	)

Definition at line 56 of file location.cpp.

Referenced by AC_WPNav::advance_wp_target_along_track(), AP_Frsky_Telem::calc_home(), AC_PosControl::get_bearing_to_target(), AP_Mission::get_next_ground_course_cd(), AC_WPNav::get_wp_bearing_to_destination(), test_one_offset(), AP_Landing::type_slope_setup_landing_glide_slope(), AP_Landing::type_slope_verify_abort_landing(), AP_Landing::type_slope_verify_land(), AP_L1_Control::update_loiter(), AP_L1_Control::update_waypoint(), and AP_Landing_Deepstall::verify_abort_landing().

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◆ get_bearing_cd() [2/2]

float get_bearing_cd	(	const Vector3f &	origin,
		const Vector3f &	destination
	)

Definition at line 66 of file location.cpp.

◆ get_distance()

float get_distance	(	const struct Location &	loc1,
		const struct Location &	loc2
	)

Definition at line 36 of file location.cpp.

Referenced by AP_Frsky_Telem::calc_home(), AP_Rally::find_nearest_rally_point(), get_distance_cm(), AP_Mission::get_landing_sequence_start(), SITL::XPlane::receive_data(), SITL::ADSB::send_report(), test_accuracy(), test_one_offset(), AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(), AP_Landing::type_slope_setup_landing_glide_slope(), AP_Landing::type_slope_verify_land(), AP_Camera::update(), AP_Avoidance::update_threat_level(), and AP_Landing_Deepstall::verify_land().

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◆ get_distance_cm()

uint32_t get_distance_cm	(	const struct Location &	loc1,
		const struct Location &	loc2
	)

Definition at line 44 of file location.cpp.

Referenced by AC_Fence::check_destination_within_fence().

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◆ get_horizontal_distance_cm()

float get_horizontal_distance_cm	(	const Vector3f &	origin,
		const Vector3f &	destination
	)

Definition at line 50 of file location.cpp.

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◆ location_3d_diff_NED()

Vector3f location_3d_diff_NED	(	const struct Location &	loc1,
		const struct Location &	loc2
	)

Definition at line 149 of file location.cpp.

Referenced by AP_GPS::all_consistent(), AP_AHRS_NavEKF::get_relative_position_NED_home(), and AP_Follow::get_target_dist_and_vel_ned().

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◆ location_diff()

Vector2f location_diff	(	const struct Location &	loc1,
		const struct Location &	loc2
	)

Definition at line 139 of file location.cpp.

Referenced by AP_GPS::calc_blended_state(), NavEKF2_core::calcGpsGoodToAlign(), NavEKF3_core::calcGpsGoodToAlign(), closest_approach_xy(), AP_AHRS_NavEKF::get_relative_position_NE_home(), AP_AHRS_NavEKF::get_relative_position_NE_origin(), AP_AHRS_NavEKF::get_relative_position_NED_origin(), AP_Avoidance::get_vector_perpendicular(), SoaringController::get_wind_corrected_drift(), NavEKF2_core::getPosNE(), NavEKF3_core::getPosNE(), AP_Arming::gps_checks(), AC_Fence::load_polygon_from_eeprom(), location_path_proportion(), AP_Avoidance::perpendicular_xy(), AP_Avoidance::perpendicular_xyz(), NavEKF2_core::readGpsData(), NavEKF3_core::readGpsData(), SITL::CRRCSim::recv_fdm(), AP_Beacon_SITL::update(), AP_L1_Control::update_loiter(), AP_Landing_Deepstall::update_steering(), AP_L1_Control::update_waypoint(), and AP_Landing_Deepstall::verify_breakout().

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◆ location_offset()

void location_offset	(	struct Location &	loc,
		float	ofs_north,
		float	ofs_east
	)

Definition at line 125 of file location.cpp.

Referenced by AP_GPS::calc_blended_state(), AP_AHRS_DCM::get_position(), SoaringController::get_target(), AP_Follow::get_target_location_and_velocity(), NavEKF2_core::getLLH(), NavEKF3_core::getLLH(), location_update(), SITL::ADSB::send_report(), SITL::Aircraft::smooth_sensors(), test_one_offset(), AP_Beacon_SITL::update(), and SITL::Aircraft::update_position().

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◆ location_passed_point()

bool location_passed_point	(	const struct Location &	location,
		const struct Location &	point1,
		const struct Location &	point2
	)

Definition at line 80 of file location.cpp.

Referenced by test_passed_waypoint(), and AP_Landing_Deepstall::verify_land().

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◆ location_path_proportion()

float location_path_proportion	(	const struct Location &	location,
		const struct Location &	point1,
		const struct Location &	point2
	)

Definition at line 94 of file location.cpp.

Referenced by location_passed_point(), and AP_Landing::type_slope_setup_landing_glide_slope().

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◆ location_sanitize()

bool location_sanitize	(	const struct Location &	defaultLoc,
		struct Location &	loc
	)

Definition at line 166 of file location.cpp.

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◆ location_update()

void location_update	(	struct Location &	loc,
		float	bearing,
		float	distance
	)

Definition at line 115 of file location.cpp.

Referenced by AP_Landing_Deepstall::build_approach_path(), AP_Proximity_SITL::get_distance_to_fence(), AP_AHRS_DCM::get_position(), AP_Landing::type_slope_setup_landing_glide_slope(), AP_Landing::type_slope_verify_land(), and AP_Landing_Deepstall::verify_land().

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◆ locations_are_same()

bool locations_are_same	(	const struct Location &	loc1,
		const struct Location &	loc2
	)

Definition at line 159 of file location.cpp.

◆ longitude_scale()

float longitude_scale ( const struct Location & loc )

Definition at line 27 of file location.cpp.

Referenced by get_bearing_cd(), get_distance(), Location_Class::get_distance(), Location_Class::get_vector_xy_from_origin_NE(), location_3d_diff_NED(), location_diff(), location_offset(), and Location_Class::offset().

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◆ print_latlon()

void print_latlon	(	AP_HAL::BetterStream *	s,
		int32_t	lat_or_lon
	)

Definition at line 196 of file location.cpp.

Referenced by loop().

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◆ wgsecef2llh()

void wgsecef2llh	(	const Vector3d &	ecef,
		Vector3d &	llh
	)

Definition at line 42 of file location_double.cpp.

Referenced by test_wgs_conversion_functions().

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◆ wgsllh2ecef()

void wgsllh2ecef	(	const Vector3d &	llh,
		Vector3d &	ecef
	)

Definition at line 32 of file location_double.cpp.

Referenced by test_wgs_conversion_functions().

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Macros

Functions

Macro Definition Documentation

◆ LOCATION_SCALING_FACTOR

◆ LOCATION_SCALING_FACTOR_INV

Function Documentation

◆ check_lat() [1/2]

◆ check_lat() [2/2]

◆ check_latlng() [1/3]

◆ check_latlng() [2/3]

◆ check_latlng() [3/3]

◆ check_lng() [1/2]

◆ check_lng() [2/2]

◆ get_bearing_cd() [1/2]

◆ get_bearing_cd() [2/2]

◆ get_distance()

◆ get_distance_cm()

◆ get_horizontal_distance_cm()

◆ location_3d_diff_NED()

◆ location_diff()

◆ location_offset()

◆ location_passed_point()

◆ location_path_proportion()

◆ location_sanitize()

◆ location_update()

◆ locations_are_same()

◆ longitude_scale()

◆ print_latlon()

◆ wgsecef2llh()

◆ wgsllh2ecef()