proj
hex(void)
{
int i;
double t;
double root3;
double c,d;
struct place p;
hcut[2] = PI;
hcut[1] = hcut[2]/3;
hcut[0] = -hcut[1];
root3 = sqrt(3.);
rootroot3 = sqrt(root3);
t = 15 -8*root3;
hkc = t*(1-sqrt(1-1/(t*t)));
elco2(BIG,0.,hkc,1.,1.,&w2,&t);
w2 *= 2;
rootk = sqrt(hkc);
latlon(90.,90.,&hem);
latlon(90.,0.,&p);
Xhex(&p,&c,&t);
latlon(0.,0.,&p);
Xhex(&p,&d,&t);
for(i=0;i<3;i++) {
ki[i] *= root3/2;
cr[i] = c + (c-d)*kr[i];
ci[i] = (c-d)*ki[i];
}
deg2rad(0.,&twist);
return(Xhex);
}
proj
tetra(void)
{
register i;
int j;
register struct place *tp;
register struct tproj *tpp;
double t;
root3 = sqrt(3.);
rt3inv = 1/root3;
two_rt3 = 2*root3;
tkc = sqrt(.5-.25*root3);
tk = sqrt(.5+.25*root3);
tcon = 2*sqrt(root3);
elco2(tcon/(root3-1),0.,tkc,1.,1.,&f0r,&f0i);
elco2(1.e15,0.,tk,1.,1.,&fpir,&fpii);
fpir *= 2;
fpii *= 2;
for(i=0;i<4;i++) {
tx[i] *= f0r*root3;
ty[i] *= f0r;
tp = &tpole[i];
t = tp->nlat.s = tpoleinit[i][0]/root3;
tp->nlat.c = sqrt(1 - t*t);
tp->nlat.l = atan2(tp->nlat.s,tp->nlat.c);
deg2rad(tpoleinit[i][1],&tp->wlon);
for(j=0;j<4;j++) {
tpp = &tproj[i][j];
latlon(tpp->tlat,tpp->tlon,&tpp->projpl);
deg2rad(tpp->ttwist,&tpp->projtw);
deg2rad(tpp->trot,&tpp->postrot);
}
}
return(Xtetra);
}
void
orient(double lat, double lon, double theta)
{
lat = cirmod(lat);
if(lat>90.) {
lat = 180. - lat;
lon -= 180.;
theta -= 180.;
} else if(lat < -90.) {
lat = -180. - lat;
lon -= 180.;
theta -= 180;
}
latlon(lat,lon,&pole);
deg2rad(theta, &twist);
latlon(lat,180.-theta,&ipole);
deg2rad(180.-lon, &itwist);
}
void GeoreferencingDialog::requestDeclination(bool no_confirm)
{
#if defined(QT_NETWORK_LIB)
if (georef->isLocal())
return;
// TODO: Move to resources or preferences. Assess security risks of url distinction.
QString user_url("http://www.ngdc.noaa.gov/geomag-web/");
QUrl service_url("http://www.ngdc.noaa.gov/geomag-web/calculators/calculateDeclination");
LatLon latlon(georef->getGeographicRefPoint());
if (!no_confirm)
{
int result = QMessageBox::question(this, tr("Online declination lookup"),
trUtf8("The magnetic declination for the reference point %1° %2° will now be retrieved from <a href=\"%3\">%3</a>. Do you want to continue?").
arg(latlon.latitude()).arg(latlon.longitude()).arg(user_url),
QMessageBox::Yes | QMessageBox::No,
QMessageBox::Yes );
if (result != QMessageBox::Yes)
return;
}
declination_query_in_progress = true;
updateDeclinationButton();
QNetworkAccessManager *network = new QNetworkAccessManager(this);
connect(network, &QNetworkAccessManager::finished, this, &GeoreferencingDialog::declinationReplyFinished);
QUrlQuery query;
QDate today = QDate::currentDate();
query.addQueryItem("lat1", QString::number(latlon.latitude()));
query.addQueryItem("lon1", QString::number(latlon.longitude()));
query.addQueryItem("startYear", QString::number(today.year()));
query.addQueryItem("startMonth", QString::number(today.month()));
query.addQueryItem("startDay", QString::number(today.day()));
query.addQueryItem("resultFormat", "xml");
service_url.setQuery(query);
network->get(QNetworkRequest(service_url));
#else
Q_UNUSED(no_confirm)
#endif
}
MapCoordF GPSDisplay::calcLatestGPSCoord(bool& ok)
{
#if defined(QT_POSITIONING_LIB)
if (!has_valid_position)
{
ok = false;
return latest_gps_coord;
}
if (!gps_updated)
{
ok = true;
return latest_gps_coord;
}
latest_pos_info = source->lastKnownPosition(true);
latest_gps_coord_accuracy = latest_pos_info.hasAttribute(QGeoPositionInfo::HorizontalAccuracy) ? latest_pos_info.attribute(QGeoPositionInfo::HorizontalAccuracy) : -1;
QGeoCoordinate qgeo_coord = latest_pos_info.coordinate();
if (!qgeo_coord.isValid())
{
ok = false;
return latest_gps_coord;
}
LatLon latlon(qgeo_coord.latitude(), qgeo_coord.longitude());
latest_gps_coord = georeferencing.toMapCoordF(latlon, &ok);
if (!ok)
{
qDebug() << "GPSDisplay::calcLatestGPSCoord(): Cannot convert LatLon to MapCoordF!";
return latest_gps_coord;
}
gps_updated = false;
ok = true;
return latest_gps_coord;
#else
ok = has_valid_position;
return latest_gps_coord;
#endif
}
void Create_packets(ExtU_ANN_EKF_NMPC_2_T *data,int sock)
{ int i=0;
int bytes_sent;
uint8_t buf[BUFFER_LENGTH];
uint8_t buf1[BUFFER_LENGTH];
uint8_t buf2[BUFFER_LENGTH];
mavlink_message_t msg,msg1,msg2;
uint16_t len;
mavlink_msg_heartbeat_pack(2, 200, &msg, 2, 12, 65, 0, 3);
len = mavlink_msg_to_send_buffer(buf, &msg);
int len1 = strlen(buf);
bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
mavlink_msg_attitude_pack(2, 200, &msg, microsSinceEpoch(),data->EulerAnglesmeas.phi, data->EulerAnglesmeas.theta, data->EulerAnglesmeas.psi, data->BodyRatesmeas.P,data->BodyRatesmeas.Q, data->BodyRatesmeas.R);
len = mavlink_msg_to_send_buffer(buf, &msg);
len1 = strlen(buf);
bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
// mavlink_msg_hil_state_pack(1, 200, &msg, microsSinceEpoch(),data->EulerAngles.phi, data->EulerAngles.theta, data->EulerAngles.psi, data->BodyRatesmeas.P, data->BodyRatesmeas.Q, data->BodyRatesmeas.R,data->GPSPosition.Latitude,data->GPSPosition.Longitude,data->GPSPosition.Altitude,0,0,0,data->Accelerometermeas.Axb,data->Accelerometermeas.Ayb,data->Accelerometermeas.Azb);
// mavlink_msg_hil_state_pack(2, 200, &msg, microsSinceEpoch(),data->EulerAngles.phi, data->EulerAngles.theta, data->EulerAngles.psi, data->BodyRatesmeas.P, data->BodyRatesmeas.Q, data->BodyRatesmeas.R,39,-95,data->GPSPosition.Altitude,0,0,0,data->Accelerometermeas.Axb,data->Accelerometermeas.Ayb,data->Accelerometermeas.Azb);
//len = mavlink_msg_to_send_buffer(buf, &msg);
// bytes_sent = write(tty_fd1,buf,len);
mavlink_msg_gps_raw_int_pack(2, 200, &msg, microsSinceEpoch(),2,data->GPSPositionmeas.Latitude,data->GPSPositionmeas.Longitude,data->GPSPositionmeas.Altitude,UINT16_MAX,UINT16_MAX,UINT16_MAX,UINT16_MAX,255);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
memset(buf, 0, BUFFER_LENGTH);
//mavlink_message_t msg;
mavlink_status_t status,status1;
mavlink_mission_count_t mission_count;
int cn;
recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen);
if (recsize > 0)
{
// Something received - print out all bytes and parse packet
printf("Bytes Received: %d\nDatagram: ", (int)recsize);
for (i = 0; i < recsize; ++i)
{
//temp = buf[i];
// printf("%02x ", (unsigned char)temp);
if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status))
{
// Packet received
printf("\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\n", msg.sysid, msg.compid, msg.len, msg.msgid);
printf("\n\n Incomming packet\n\n");
if(msg.msgid == 44)
{
mavlink_msg_mission_count_decode( &msg, &mission_count);
printf("\n\n the # of wypts received is %d########\n\n",mission_count.count);
data->wcn=mission_count.count;
for(cn=1;cn<=data->wcn;cn++)
{
//sendrequest(sock,cn);
memset(buf1, 0, BUFFER_LENGTH);
mavlink_msg_mission_request_pack(2, 200, &msg1,255,0,(cn-1));
len = mavlink_msg_to_send_buffer(buf1, &msg1);
bytes_sent = sendto(sock, buf1, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
//printf("\n\n @@@@@ sent successfull\n\n");
memset(buf2, 0, BUFFER_LENGTH);
//receive_waypoints(sock,cn);
while( (recsize1 = recvfrom(sock, (void *)buf2, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen)) <= 0);
if (recsize1 > 0)
{
int ii;
mavlink_mission_item_t mission_item;
for (ii = 0; ii < recsize1; ++ii)
{
if (mavlink_parse_char(MAVLINK_COMM_0, buf2[ii], &msg2, &status1))
{
printf("\n\n reading waypoint # %d",(cn-1));
}
}//if (msg2.msgid==0)
//goto loop;
if(msg2.msgid == 39)
{
mavlink_msg_mission_item_decode(&msg2, &mission_item);
printf("\n\nthe waypoint # %d is lat:%f lon:%f alt:%f",cn,mission_item.x,mission_item.y,mission_item.z);
data->lat[cn]=mission_item.x;
data->alt[cn] =mission_item.z;
data->lon[cn] = mission_item.y;
data->WaypointsIN.v[cn] = mission_item.param1;
latlon(&ANN_EKF_NMPC_2_U,cn);
}
}else printf("!!!!!!!!\n\n receiving failed \n\n ");
}
if((cn-1) == mission_count.count)
{
//sendack(sock,cn);
mavlink_msg_mission_ack_pack(2, 200, &msg2,255,0,0);
memset(buf2, 0, BUFFER_LENGTH);
len = mavlink_msg_to_send_buffer(buf2, &msg2);
bytes_sent = sendto(sock, buf2, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
printf("\n\n ***** sent acknowledgement *****\n\n");
}
} // for msg id 44
if(msg.msgid == 43)
{
int j;
//sendcn(sock,cn);
mavlink_msg_mission_count_pack(2, 200, &msg2,255,0,data->wcn);
memset(buf2, 0, BUFFER_LENGTH);
len = mavlink_msg_to_send_buffer(buf2, &msg2);
bytes_sent = sendto(sock, buf2, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
memset(buf2, 0, BUFFER_LENGTH);
for(j=1; j<=data->wcn;j++)
{
//receive_request(sock);
//sendwyp(sock,-95,95);
mavlink_msg_mission_item_pack(2, 200, &msg2,255,0,(j-1),0,16,0,1,data->WaypointsIN.v[j],0,0,0,data->lat[j],data->lon[j],data->alt[j]);
len = mavlink_msg_to_send_buffer(buf2, &msg2);
bytes_sent = sendto(sock, buf2, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
printf("\n\n @@@@@ sent count successfull\n\n");
}
//rec_ack(sock);
}// for msg id 43
} //parse - if
}//for
}//else printf("\n\n 12121212not good");//recsize - if
// printf("\n");
//memset(buf, 0, BUFFER_LENGTH);
//printf("\n\n !!!@@##$$ end of a loop\n\n");
}//for Createpacket
void LocationClickHandler::setup() {
QString latlon(qsl("%1,%2").arg(_coords.lat).arg(_coords.lon));
_text = qsl("https://maps.google.com/maps?q=") + latlon + qsl("&ll=") + latlon + qsl("&z=16");
}
