2010-09-21 21:29:35 +02:00
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/**
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******************************************************************************
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*
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* @file CoordinateConverions.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Header for Coordinate conversions library in CoordinateConversions.c
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* - all angles in deg
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* - distances in meters
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* - altitude above WGS-84 elipsoid
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef COORDINATECONVERSIONS_H_
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#define COORDINATECONVERSIONS_H_
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// ****** convert Lat,Lon,Alt to ECEF ************
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void LLA2ECEF(double LLA[3], double ECEF[3]);
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// ****** convert ECEF to Lat,Lon,Alt (ITERATIVE!) *********
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uint16_t ECEF2LLA(double ECEF[3], double LLA[3]);
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void RneFromLLA(double LLA[3], float Rne[3][3]);
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// ****** find roll, pitch, yaw from quaternion ********
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void Quaternion2RPY(float q[4], float rpy[3]);
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// ****** find quaternion from roll, pitch, yaw ********
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void RPY2Quaternion(float rpy[3], float q[4]);
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//** Find Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
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void Quaternion2R(float q[4], float Rbe[3][3]);
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// ****** Express LLA in a local NED Base Frame ********
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void LLA2Base(double LLA[3], double BaseECEF[3], float Rne[3][3],
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float NED[3]);
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// ****** Express ECEF in a local NED Base Frame ********
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void ECEF2Base(double ECEF[3], double BaseECEF[3], float Rne[3][3],
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float NED[3]);
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#endif // COORDINATECONVERSIONS_H_
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