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Code Issues Releases Activity

AndroidGCS: Correct the equation for converting PositionActual (NED) to world

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coordinates
This commit is contained in:
James Cotton 2012-08-06 00:35:53 -05:00
parent d18b3bbbf6
commit e80aad99c0
1 changed files with 32 additions and 8 deletions
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40
androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
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@ -29,7 +29,6 @@ import android.graphics.BitmapFactory;
import android.graphics.Canvas;
import android.graphics.Paint;
import android.graphics.Point;
import android.graphics.RectF;
import android.os.Bundle;
import android.os.IBinder;
import android.util.Log;
@ -189,13 +188,7 @@ public class UAVLocation extends MapActivity
if(obj != null)
obj.addUpdatedObserver(new Observer() {
public void update(Observable observable, Object data) {
UAVDataObject obj = (UAVDataObject) data;
Double north = obj.getField("North").getDouble();
Double east = obj.getField("East").getDouble();
// TODO: Correct convertion from NED to LLA. This is erroneous conversion from m to deg
uavLocation = new GeoPoint((int) (homeLocation.getLatitudeE6() + (20+north) * 1e6 / 78847),
(int) (homeLocation.getLongitudeE6() + east* 1e6 / 78847));
uavLocation = getUavLocation();
runOnUiThread(new Runnable() {
public void run() {
mapView.invalidate();
@ -206,6 +199,37 @@ public class UAVLocation extends MapActivity
}
private GeoPoint getUavLocation() {
UAVObject pos = (UAVObject) objMngr.getObject("PositionActual");
if (pos == null)
return new GeoPoint(0,0);
UAVObject home = (UAVObject) objMngr.getObject("HomeLocation");
if (home == null)
return new GeoPoint(0,0);
double lat, lon, alt;
lat = home.getField("Latitude").getDouble() / 10.0e6;
lon = home.getField("Longitude").getDouble() / 10.0e6;
alt = home.getField("Altitude").getDouble();
// Get the home coordinates
double T0, T1;
T0 = alt+6.378137E6;
T1 = Math.cos(lat * Math.PI / 180.0)*(alt+6.378137E6);
// Get the NED coordinates
double NED0, NED1;
NED0 = pos.getField("North").getDouble();
NED1 = pos.getField("East").getDouble();
// Compute the LLA coordinates
lat = lat + (NED0 / T0) * 180.0 / Math.PI;
lon = lon + (NED1 / T1) * 180.0 / Math.PI;
return new GeoPoint((int) (lat * 1e6), (int) (lon * 1e6));
}
void onOPDisconnected() {
}