mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-11 19:24:10 +01:00
bb79ba66fa
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1346 ebee16cc-31ac-478f-84a7-5cbb03baadba
168 lines
7.4 KiB
C
168 lines
7.4 KiB
C
/**
|
|
******************************************************************************
|
|
*
|
|
* @file WMMInternal.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief Include file of the WorldMagModel internal functionality.
|
|
*
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
*****************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
|
|
#ifndef WMMINTERNAL_H_
|
|
#define WMMINTERNAL_H_
|
|
|
|
// internal constants
|
|
#define TRUE ((uint16_t)1)
|
|
#define FALSE ((uint16_t)0)
|
|
#define WMM_MAX_MODEL_DEGREES 12
|
|
#define WMM_MAX_SECULAR_VARIATION_MODEL_DEGREES 12
|
|
#define NUMTERMS 91 // ((WMM_MAX_MODEL_DEGREES+1)*(WMM_MAX_MODEL_DEGREES+2)/2);
|
|
#define NUMPCUP 92 // NUMTERMS +1
|
|
#define NUMPCUPS 13 // WMM_MAX_MODEL_DEGREES +1
|
|
#define RAD2DEG(rad) ((rad)*(180.0L/M_PI))
|
|
#define DEG2RAD(deg) ((deg)*(M_PI/180.0L))
|
|
|
|
|
|
// internal structure definitions
|
|
typedef struct {
|
|
float EditionDate;
|
|
float epoch; //Base time of Geomagnetic model epoch (yrs)
|
|
char ModelName[20];
|
|
float Main_Field_Coeff_G[NUMTERMS]; // C - Gauss coefficients of main geomagnetic model (nT)
|
|
float Main_Field_Coeff_H[NUMTERMS]; // C - Gauss coefficients of main geomagnetic model (nT)
|
|
float Secular_Var_Coeff_G[NUMTERMS]; // CD - Gauss coefficients of secular geomagnetic model (nT/yr)
|
|
float Secular_Var_Coeff_H[NUMTERMS]; // CD - Gauss coefficients of secular geomagnetic model (nT/yr)
|
|
uint16_t nMax; // Maximum degree of spherical harmonic model
|
|
uint16_t nMaxSecVar; // Maxumum degree of spherical harmonic secular model
|
|
uint16_t SecularVariationUsed; // Whether or not the magnetic secular variation vector will be needed by program
|
|
} WMMtype_MagneticModel;
|
|
|
|
typedef struct {
|
|
float a; // semi-major axis of the ellipsoid
|
|
float b; // semi-minor axis of the ellipsoid
|
|
float fla; // flattening
|
|
float epssq; // first eccentricity squared
|
|
float eps; // first eccentricity
|
|
float re; // mean radius of ellipsoid
|
|
} WMMtype_Ellipsoid;
|
|
|
|
typedef struct {
|
|
float lambda; // longitude
|
|
float phi; // geodetic latitude
|
|
float HeightAboveEllipsoid; // height above the ellipsoid (HaE)
|
|
} WMMtype_CoordGeodetic;
|
|
|
|
typedef struct {
|
|
float lambda; // longitude
|
|
float phig; // geocentric latitude
|
|
float r; // distance from the center of the ellipsoid
|
|
} WMMtype_CoordSpherical;
|
|
|
|
typedef struct {
|
|
uint16_t Year;
|
|
uint16_t Month;
|
|
uint16_t Day;
|
|
float DecimalYear;
|
|
} WMMtype_Date;
|
|
|
|
typedef struct {
|
|
float Pcup[NUMPCUP]; // Legendre Function
|
|
float dPcup[NUMPCUP]; // Derivative of Lagendre fn
|
|
} WMMtype_LegendreFunction;
|
|
|
|
typedef struct {
|
|
float Bx; // North
|
|
float By; // East
|
|
float Bz; // Down
|
|
} WMMtype_MagneticResults;
|
|
|
|
typedef struct {
|
|
|
|
float RelativeRadiusPower[WMM_MAX_MODEL_DEGREES+1]; // [earth_reference_radius_km / sph. radius ]^n
|
|
float cos_mlambda[WMM_MAX_MODEL_DEGREES+1]; // cp(m) - cosine of (m*spherical coord. longitude
|
|
float sin_mlambda[WMM_MAX_MODEL_DEGREES+1]; // sp(m) - sine of (m*spherical coord. longitude)
|
|
} WMMtype_SphericalHarmonicVariables;
|
|
|
|
typedef struct {
|
|
float Decl; /* 1. Angle between the magnetic field vector and true north, positive east*/
|
|
float Incl; /*2. Angle between the magnetic field vector and the horizontal plane, positive down*/
|
|
float F; /*3. Magnetic Field Strength*/
|
|
float H; /*4. Horizontal Magnetic Field Strength*/
|
|
float X; /*5. Northern component of the magnetic field vector*/
|
|
float Y; /*6. Eastern component of the magnetic field vector*/
|
|
float Z; /*7. Downward component of the magnetic field vector*/
|
|
float GV; /*8. The Grid Variation*/
|
|
float Decldot; /*9. Yearly Rate of change in declination*/
|
|
float Incldot; /*10. Yearly Rate of change in inclination*/
|
|
float Fdot; /*11. Yearly rate of change in Magnetic field strength*/
|
|
float Hdot; /*12. Yearly rate of change in horizontal field strength*/
|
|
float Xdot; /*13. Yearly rate of change in the northern component*/
|
|
float Ydot; /*14. Yearly rate of change in the eastern component*/
|
|
float Zdot; /*15. Yearly rate of change in the downward component*/
|
|
float GVdot; /*16. Yearly rate of chnage in grid variation*/
|
|
} WMMtype_GeoMagneticElements;
|
|
|
|
// Internal Function Prototypes
|
|
void WMM_Set_Coeff_Array();
|
|
void WMM_GeodeticToSpherical(WMMtype_CoordGeodetic * CoordGeodetic, WMMtype_CoordSpherical *CoordSpherical);
|
|
uint16_t WMM_DateToYear (WMMtype_Date *CalendarDate, char *Error);
|
|
void WMM_TimelyModifyMagneticModel(WMMtype_Date UserDate);
|
|
uint16_t WMM_Geomag(WMMtype_CoordSpherical * CoordSpherical,
|
|
WMMtype_CoordGeodetic * CoordGeodetic,
|
|
WMMtype_GeoMagneticElements *GeoMagneticElements);
|
|
|
|
uint16_t WMM_AssociatedLegendreFunction( WMMtype_CoordSpherical * CoordSpherical, uint16_t nMax, WMMtype_LegendreFunction *LegendreFunction);
|
|
|
|
uint16_t WMM_CalculateGeoMagneticElements(WMMtype_MagneticResults *MagneticResultsGeo, WMMtype_GeoMagneticElements *GeoMagneticElements);
|
|
|
|
uint16_t WMM_CalculateSecularVariation(WMMtype_MagneticResults *MagneticVariation, WMMtype_GeoMagneticElements *MagneticElements);
|
|
|
|
uint16_t WMM_ComputeSphericalHarmonicVariables( WMMtype_CoordSpherical *CoordSpherical,
|
|
uint16_t nMax,
|
|
WMMtype_SphericalHarmonicVariables * SphVariables);
|
|
|
|
uint16_t WMM_PcupLow( float *Pcup, float *dPcup, float x, uint16_t nMax);
|
|
|
|
uint16_t WMM_PcupHigh( float *Pcup, float *dPcup, float x, uint16_t nMax);
|
|
|
|
uint16_t WMM_RotateMagneticVector(WMMtype_CoordSpherical * ,
|
|
WMMtype_CoordGeodetic * CoordGeodetic,
|
|
WMMtype_MagneticResults * MagneticResultsSph,
|
|
WMMtype_MagneticResults *MagneticResultsGeo);
|
|
|
|
uint16_t WMM_SecVarSummation(WMMtype_LegendreFunction *LegendreFunction,
|
|
WMMtype_SphericalHarmonicVariables * SphVariables,
|
|
WMMtype_CoordSpherical * CoordSpherical,
|
|
WMMtype_MagneticResults *MagneticResults);
|
|
|
|
uint16_t WMM_SecVarSummationSpecial(WMMtype_SphericalHarmonicVariables * SphVariables,
|
|
WMMtype_CoordSpherical * CoordSpherical,
|
|
WMMtype_MagneticResults *MagneticResults);
|
|
|
|
uint16_t WMM_Summation( WMMtype_LegendreFunction *LegendreFunction,
|
|
WMMtype_SphericalHarmonicVariables * SphVariables,
|
|
WMMtype_CoordSpherical * CoordSpherical,
|
|
WMMtype_MagneticResults *MagneticResults);
|
|
|
|
uint16_t WMM_SummationSpecial(WMMtype_SphericalHarmonicVariables * SphVariables,
|
|
WMMtype_CoordSpherical * CoordSpherical,
|
|
WMMtype_MagneticResults *MagneticResults);
|
|
|
|
|
|
#endif /* WMMINTERNAL_H_ */ |