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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 | - | ||
74 | 67 | ||
Line 75... | Line 68... | ||
75 | # define NMEA_POSIX(x) x |
68 | # define NMEA_POSIX(x) x |
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116 | 109 | ||
117 | return RetVal; |
110 | 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 | - | ||
Line 137... | Line 111... | ||
137 | return 1; |
111 | } |