void calculateTrackingVariables(float lon1, float lat1, float lon2, float lat2, int alt) {
// (homelon, homelat, uavlon, uavlat, uavalt )
// Return Bearing & Elevation angles in degree
// converting to radian
lon1 = toRad(lon1);
lat1 = toRad(lat1);
lon2 = toRad(lon2);
lat2 = toRad(lat2);
//calculating bearing in degree decimal
trackingBearing = calculateBearing(lon1, lat1, lon2, lat2);
//calculating distance between uav & home
trackingElevation = calculateElevation(lon1, lat1, lon2, lat2, alt);
}
void Localization::ProcessMeasurementPT(unsigned int time, float p_sl, float p, float t) {
ProcessMeasurementElevation(time, calculateElevation(p_sl, p, t));
}
