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LibrePilot/flight/Libraries/inc/CoordinateConversions.h
peabody124 0fd9fda7a6 Flight/AHRS Comms: Whitespace fixes
gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1836 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-02 02:17:22 +00:00

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/**
******************************************************************************
*
* @file CoordinateConverions.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Header for Coordinate conversions library in CoordinateConversions.c
* - all angles in deg
* - distances in meters
* - altitude above WGS-84 elipsoid
*
* @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 COORDINATECONVERSIONS_H_
#define COORDINATECONVERSIONS_H_
// ****** convert Lat,Lon,Alt to ECEF ************
void LLA2ECEF(double LLA[3], double ECEF[3]);
// ****** convert ECEF to Lat,Lon,Alt (ITERATIVE!) *********
uint16_t ECEF2LLA(double ECEF[3], double LLA[3]);
void RneFromLLA(double LLA[3], float Rne[3][3]);
// ****** find roll, pitch, yaw from quaternion ********
void Quaternion2RPY(float q[4], float rpy[3]);
// ****** find quaternion from roll, pitch, yaw ********
void RPY2Quaternion(float rpy[3], float q[4]);
//** Find Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
void Quaternion2R(float q[4], float Rbe[3][3]);
// ****** Express LLA in a local NED Base Frame ********
void LLA2Base(double LLA[3], double BaseECEF[3], float Rne[3][3], float NED[3]);
// ****** Express ECEF in a local NED Base Frame ********
void ECEF2Base(double ECEF[3], double BaseECEF[3], float Rne[3][3], float NED[3]);
#endif // COORDINATECONVERSIONS_H_