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4a1842f3be
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2827 ebee16cc-31ac-478f-84a7-5cbb03baadba
78 lines
2.4 KiB
C++
78 lines
2.4 KiB
C++
/**
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******************************************************************************
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*
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* @file homelocationutil.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Utilities to find the location of openpilot GCS files:
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* - Plugins Share directory path
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*
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* @brief Home location utility functions
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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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#include "homelocationutil.h"
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#include <stdint.h>
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#include <QDebug>
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#include <QDateTime>
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#include "coordinateconversions.h"
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#include "worldmagmodel.h"
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namespace Utils {
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HomeLocationUtil::HomeLocationUtil()
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{
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// Initialize();
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}
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// input params: LLA
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//
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// output params: ECEF, RNE and Be
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int HomeLocationUtil::getDetails(double LLA[3], double ECEF[3], double RNE[9], double Be[3])
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{
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// *************
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// check input parms
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double latitude = LLA[0];
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double longitude = LLA[1];
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double altitude = LLA[2];
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if (latitude != latitude) return -1; // prevent nan error
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if (longitude != longitude) return -2; // prevent nan error
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if (altitude != altitude) return -3; // prevent nan error
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if (latitude < -90 || latitude > 90) return -4; // range checking
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if (longitude < -180 || longitude > 180) return -5; // range checking
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// *************
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QDateTime dt = QDateTime::currentDateTime().toUTC();
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CoordinateConversions().LLA2ECEF(LLA, ECEF);
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CoordinateConversions().RneFromLLA(LLA, (double (*)[3])RNE);
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if (WorldMagModel().GetMagVector(LLA, dt.date().month(), dt.date().day(), dt.date().year(), Be) < 0)
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return -6;
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return 0; // OK
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}
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}
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