static void setHomeLocation(GPSPositionData * gpsData)
{
HomeLocationData home;
HomeLocationGet(&home);
GPSTimeData gps;
GPSTimeGet(&gps);
if (gps.Year >= 2000)
{
// Store LLA
home.Latitude = gpsData->Latitude;
home.Longitude = gpsData->Longitude;
home.Altitude = gpsData->Altitude + gpsData->GeoidSeparation;
// Compute home ECEF coordinates and the rotation matrix into NED
double LLA[3] = { ((double)home.Latitude) / 10e6, ((double)home.Longitude) / 10e6, ((double)home.Altitude) };
double ECEF[3];
RneFromLLA(LLA, (float (*)[3])home.RNE);
LLA2ECEF(LLA, ECEF);
// TODO: Currently UAVTalk only supports float but these conversions use double
// need to find out if they require that precision and if so extend UAVTAlk
home.ECEF[0] = (int32_t) (ECEF[0] * 100);
home.ECEF[1] = (int32_t) (ECEF[1] * 100);
home.ECEF[2] = (int32_t) (ECEF[2] * 100);
// Compute magnetic flux direction at home location
if (WMM_GetMagVector(LLA[0], LLA[1], LLA[2], gps.Month, gps.Day, gps.Year, &home.Be[0]) >= 0)
{ // calculations appeared to go OK
home.Set = HOMELOCATION_SET_TRUE;
HomeLocationSet(&home);
}
}
}
void CoordinateConversions::LLA2Base(double LLA[3], double BaseECEF[3], float Rne[3][3], float NED[3])
{
double ECEF[3];
float diff[3];
LLA2ECEF(LLA, ECEF);
diff[0] = (float)(ECEF[0] - BaseECEF[0]);
diff[1] = (float)(ECEF[1] - BaseECEF[1]);
diff[2] = (float)(ECEF[2] - BaseECEF[2]);
NED[0] = Rne[0][0] * diff[0] + Rne[0][1] * diff[1] + Rne[0][2] * diff[2];
NED[1] = Rne[1][0] * diff[0] + Rne[1][1] * diff[1] + Rne[1][2] * diff[2];
NED[2] = Rne[2][0] * diff[0] + Rne[2][1] * diff[1] + Rne[2][2] * diff[2];
}
// ****** Express LLA in a local NED Base Frame ********
void LLA2Base(float LLA[3], float BaseECEF[3], float Rne[3][3], float NED[3])
{
float ECEF[3];
float diff[3];
LLA2ECEF(LLA, ECEF);
diff[0] = (float)(ECEF[0] - BaseECEF[0]);
diff[1] = (float)(ECEF[1] - BaseECEF[1]);
diff[2] = (float)(ECEF[2] - BaseECEF[2]);
NED[0] = Rne[0][0] * diff[0] + Rne[0][1] * diff[1] + Rne[0][2] * diff[2];
NED[1] = Rne[1][0] * diff[0] + Rne[1][1] * diff[1] + Rne[1][2] * diff[2];
NED[2] = Rne[2][0] * diff[0] + Rne[2][1] * diff[1] + Rne[2][2] * diff[2];
}
