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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 | |