void lla_of_ecef_i(struct LlaCoor_i *out, struct EcefCoor_i *in) { #if USE_SINGLE_PRECISION_LLA_ECEF /* convert our input to floating point */ struct EcefCoor_f in_f; in_f.x = M_OF_CM((float)in->x); in_f.y = M_OF_CM((float)in->y); in_f.z = M_OF_CM((float)in->z); /* calls the floating point transformation */ struct LlaCoor_f out_f; lla_of_ecef_f(&out_f, &in_f); /* convert the output to fixed point */ out->lon = (int32_t)rint(EM7DEG_OF_RAD(out_f.lon)); out->lat = (int32_t)rint(EM7DEG_OF_RAD(out_f.lat)); out->alt = (int32_t)MM_OF_M(out_f.alt); #else // use double precision by default /* convert our input to floating point */ struct EcefCoor_d in_d; in_d.x = M_OF_CM((double)in->x); in_d.y = M_OF_CM((double)in->y); in_d.z = M_OF_CM((double)in->z); /* calls the floating point transformation */ struct LlaCoor_d out_d; lla_of_ecef_d(&out_d, &in_d); /* convert the output to fixed point */ out->lon = (int32_t)rint(EM7DEG_OF_RAD(out_d.lon)); out->lat = (int32_t)rint(EM7DEG_OF_RAD(out_d.lat)); out->alt = (int32_t)MM_OF_M(out_d.alt); #endif }
void lla_of_ecef_i(struct LlaCoor_i* out, struct EcefCoor_i* in) { /* convert our input to floating point */ struct EcefCoor_d in_d; in_d.x = M_OF_CM((double)in->x); in_d.y = M_OF_CM((double)in->y); in_d.z = M_OF_CM((double)in->z); /* calls the floating point transformation */ struct LlaCoor_d out_d; lla_of_ecef_d(&out_d, &in_d); /* convert the output to fixed point */ out->lon = (int32_t)rint(EM7RAD_OF_RAD(out_d.lon)); out->lat = (int32_t)rint(EM7RAD_OF_RAD(out_d.lat)); out->alt = (int32_t)MM_OF_M(out_d.alt); }