struct relative3D_32 dcm_absolute_to_relative_32(struct waypoint3D absolute)
{
struct relative3D_32 rel;
rel.z = absolute.z;
rel.y = (absolute.y - lat_origin.WW) / 90; // in meters
rel.x = long_scale((absolute.x - lon_origin.WW) / 90, cos_lat);
return rel;
}
static void location_plane(int32_t* location)
{
location[1] = ((lat_gps.WW - lat_origin.WW)/90); // in meters, range is about 20 miles
location[0] = long_scale((lon_gps.WW - lon_origin.WW)/90, cos_lat);
#if (USE_BAROMETER_ALTITUDE == 1 )
#warning "using pressure altitude instead of GPS altitude"
// division by 100 implies alt_origin is in centimeters; not documented elsewhere
// longword result = (longword/10 - longword)/100 : range
location[2] = ((get_barometer_altitude()/10) - alt_origin.WW)/100; // height in meters
#else
location[2] = (alt_sl_gps.WW - alt_origin.WW)/100; // height in meters
#endif // USE_BAROMETER_ALTITUDE
}
static void location_plane(int16_t* location)
{
union longbbbb accum_nav;
accum_nav.WW = ((lat_gps.WW - lat_origin.WW)/90); // in meters, range is about 20 miles
location[1] = accum_nav._.W0;
accum_nav.WW = long_scale((lon_gps.WW - lon_origin.WW)/90, cos_lat);
location[0] = accum_nav._.W0;
#ifdef USE_PRESSURE_ALT
#warning "using pressure altitude instead of GPS altitude"
// division by 100 implies alt_origin is in centimeters; not documented elsewhere
// longword result = (longword/10 - longword)/100 : range
accum_nav.WW = ((get_barometer_altitude()/10) - alt_origin.WW)/100; // height in meters
#else
accum_nav.WW = (alt_sl_gps.WW - alt_origin.WW)/100; // height in meters
#endif // USE_PRESSURE_ALT
location[2] = accum_nav._.W0;
}
static void location_plane(int32_t* location)
{
location[1] = ((lat_gps.WW - lat_origin.WW)/90); // in meters, range is about 20 miles
location[0] = long_scale((lon_gps.WW - lon_origin.WW)/90, cos_lat);
location[2] = (alt_sl_gps.WW - alt_origin.WW)/100; // height in meters
}
