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2 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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3 | 3 | ||
4 | //############################################################################ |
4 | //############################################################################ |
5 | //# HISTORY gps.h |
5 | //# HISTORY gps.h |
- | 6 | //# |
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- | 7 | //# |
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- | 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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6 | //# |
16 | //# |
7 | //# 20.06.2014 OG - NEU |
17 | //# 20.06.2014 OG - NEU |
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8 | //############################################################################ |
18 | //############################################################################ |
9 | 19 | ||
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10 | - | ||
11 | #ifndef GPS_H_ |
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12 | #define GPS_H_ |
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13 | - | ||
14 | 20 | ||
15 | 21 | #ifndef GPS_H_ |
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16 | GPS_PosDev_t gps_Deviation( GPS_Pos_t pos1, GPS_Pos_t pos2 ); |
22 | #define GPS_H_ |
17 | 23 | ||
18 | /** |
24 | /** |
19 | * Position data in fractional degrees or radians |
25 | * Position data in fractional degrees or radians |
20 | */ |
26 | */ |
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21 | typedef struct _nmeaPOS |
27 | typedef struct _nmeaPOS |
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- | 28 | { |
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- | 29 | int32_t latitude; // Latitude in 1e-7 Grad |
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22 | { |
30 | int32_t longitude; // Longitude in 1e-7 Grad |
- | 31 | ||
- | 32 | } nmeaPOS; |
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- | 33 | ||
- | 34 | ||
- | 35 | ||
- | 36 | typedef struct _positionOffset |
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23 | int32_t lat; /**< Latitude */ |
37 | { |
- | 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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24 | int32_t lon; /**< Longitude */ |
41 | |
25 | 42 | ||
26 | } nmeaPOS; |
43 | GPS_PosDev_t gps_Deviation( |
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43 | double azimuth, /**< Azimuth (degree) [0, 359] */ |
60 | double azimuth, /**< Azimuth (degree) [0, 359] */ |
44 | double distance /**< Distance (km) */ |
61 | double distance /**< Distance (km) */ |
45 | ); |
62 | ); |
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- | 63 | ||
- | 64 | ||
- | 65 | uint8_t followme_add_offset( |
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- | 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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46 | 69 | ); |
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47 | 70 | ||
48 | uint8_t followme_calculate_offset( |
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49 | const nmeaPOS *pkt_pos, /**< Start position in radians */ |
71 | uint8_t followme_calculate_offset( |
50 | nmeaPOS *target_pos, /**< Result position in radians */ |
72 | int32_t radius, |
51 | int d_lat, /**< Distance lat(m) */ |
73 | int16_t angle, |
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- | 74 | positionOffset *followMeOffset |
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- | 75 | ); |
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52 | int d_lon /**< Distance long(m) */ |
76 |