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63 | #define NMEA_EARTH_SEMIMAJORAXIS_M (6378137.0) /**< Earth's semi-major axis in m according WGS84 */ |
63 | #define NMEA_EARTH_SEMIMAJORAXIS_M (6378137.0) /**< Earth's semi-major axis in m according WGS84 */ |
64 | #define NMEA_EARTH_SEMIMAJORAXIS_KM (NMEA_EARTHMAJORAXIS_KM / 1000) /**< Earth's semi-major axis in km according WGS 84 */ |
64 | #define NMEA_EARTH_SEMIMAJORAXIS_KM (NMEA_EARTHMAJORAXIS_KM / 1000) /**< Earth's semi-major axis in km according WGS 84 */ |
65 | #define NMEA_EARTH_FLATTENING (1 / 298.257223563) /**< Earth's flattening according WGS 84 */ |
65 | #define NMEA_EARTH_FLATTENING (1 / 298.257223563) /**< Earth's flattening according WGS 84 */ |
66 | #define NMEA_DOP_FACTOR (5) /**< Factor for translating DOP to meters */ |
66 | #define NMEA_DOP_FACTOR (5) /**< Factor for translating DOP to meters */ |
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- | 67 | ||
- | 68 | ||
- | 69 | // Definitonen für FollowMeStep2 |
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- | 70 | #define LONG_DIV 10000000 |
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- | 71 | #define LAT_DIV LONG_DIV |
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- | 72 | #define FOLLOWME_DEG2M 1/111111*LONG_DIV |
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- | 73 | ||
67 | 74 | ||
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68 | # define NMEA_POSIX(x) x |
75 | # define NMEA_POSIX(x) x |
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109 | 116 | ||
110 | return RetVal; |
117 | return RetVal; |
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- | 118 | } |
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- | 119 | ||
- | 120 | ||
- | 121 | // Berechnet die Position der Kopters für FollowMeStep2 |
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- | 122 | // Momentan wird die gleich Position ausgegeben |
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- | 123 | ||
- | 124 | int followme_calculate_offset( |
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- | 125 | const nmeaPOS *pkt_pos, /**< Start position in radians */ |
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- | 126 | nmeaPOS *target_pos, /**< Result position in radians */ |
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- | 127 | int d_lat, /**< Distance lat(m) */ |
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- | 128 | int d_lon /**< Distance long(m) */ |
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- | 129 | ) |
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- | 130 | { |
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- | 131 | ||
- | 132 | // only for test the "Debug-Mode" |
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- | 133 | target_pos->lat = pkt_pos->lat; |
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- | 134 | target_pos->lon = pkt_pos->lon; |
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- | 135 | ||
- | 136 | ||
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111 | } |
137 | return 1; |