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| 2136 | - | 1 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 3 | |||
| 4 | //############################################################################ |
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| 5 | //# HISTORY gps.h |
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| 6 | //# |
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| 2212 | - | 7 | //# |
| 8 | //# |
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| 9 | //# |
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| 10 | //# |
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| 11 | //# |
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| 12 | //# |
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| 13 | //# |
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| 14 | //# 22.09.2015 Starter |
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| 15 | //# - PKT-Pos von lat lon auf latitude und longitude umbenannt |
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| 16 | //# |
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| 2136 | - | 17 | //# 20.06.2014 OG - NEU |
| 18 | //############################################################################ |
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| 19 | |||
| 20 | |||
| 21 | #ifndef GPS_H_ |
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| 22 | #define GPS_H_ |
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| 23 | |||
| 24 | /** |
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| 25 | * Position data in fractional degrees or radians |
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| 26 | */ |
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| 27 | typedef struct _nmeaPOS |
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| 28 | { |
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| 2212 | - | 29 | int32_t latitude; // Latitude in 1e-7 Grad |
| 30 | int32_t longitude; // Longitude in 1e-7 Grad |
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| 2136 | - | 31 | |
| 32 | } nmeaPOS; |
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| 33 | |||
| 34 | |||
| 35 | |||
| 2212 | - | 36 | typedef struct _positionOffset |
| 37 | { |
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| 38 | int32_t latitude; // latitude offset in mm |
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| 39 | int32_t longitude; // longitude offset in mm |
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| 40 | }positionOffset; |
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| 41 | |||
| 42 | |||
| 43 | GPS_PosDev_t gps_Deviation( |
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| 44 | GPS_Pos_t pos1, |
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| 45 | GPS_Pos_t pos2 |
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| 46 | ); |
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| 47 | |||
| 48 | |||
| 2136 | - | 49 | int nmea_move_horz( |
| 50 | const nmeaPOS *start_pos, /**< Start position in radians */ |
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| 51 | nmeaPOS *end_pos, /**< Result position in radians */ |
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| 52 | double azimuth, /**< Azimuth (degree) [0, 359] */ |
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| 53 | double distance /**< Distance (km) */ |
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| 54 | ); |
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| 55 | |||
| 56 | |||
| 57 | int nmea_move_horz1( |
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| 58 | const nmeaPOS *start_pos, /**< Start position in radians */ |
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| 59 | nmeaPOS *end_pos, /**< Result position in radians */ |
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| 60 | double azimuth, /**< Azimuth (degree) [0, 359] */ |
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| 61 | double distance /**< Distance (km) */ |
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| 62 | ); |
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| 63 | |||
| 2197 | - | 64 | |
| 2212 | - | 65 | uint8_t followme_add_offset( |
| 66 | const nmeaPOS *pPktPos, /**< Start position in radians */ |
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| 67 | nmeaPOS *target_pos, /**< Result position in radians */ |
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| 68 | positionOffset *followMeOffset /**< Position Offset in Millimeters */ |
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| 69 | ); |
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| 70 | |||
| 2200 | - | 71 | uint8_t followme_calculate_offset( |
| 2212 | - | 72 | int32_t radius, |
| 73 | int16_t angle, |
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| 74 | positionOffset *followMeOffset |
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| 2197 | - | 75 | ); |
| 76 | |||
| 2212 | - | 77 | int16_t my_abs(int16_t input); |
| 2197 | - | 78 | |
| 79 | |||
| 2212 | - | 80 | |
| 2136 | - | 81 | #endif // #define GPS_H_ |