From 189122d5538ffeaab902748affbf48e66f9e5144 Mon Sep 17 00:00:00 2001 From: bresch Date: Tue, 26 Nov 2024 11:12:00 +0100 Subject: [PATCH] lla: add gravity constant at equator --- src/lib/lat_lon_alt/lat_lon_alt.hpp | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/src/lib/lat_lon_alt/lat_lon_alt.hpp b/src/lib/lat_lon_alt/lat_lon_alt.hpp index 085143c6f9..02614c1862 100644 --- a/src/lib/lat_lon_alt/lat_lon_alt.hpp +++ b/src/lib/lat_lon_alt/lat_lon_alt.hpp @@ -98,6 +98,14 @@ public: */ matrix::Vector3f computeAngularRateNavFrame(const matrix::Vector3f &v_ned) const; + struct Wgs84 { + static constexpr double equatorial_radius = 6378137.0; + static constexpr double eccentricity = 0.0818191908425; + static constexpr double eccentricity2 = eccentricity * eccentricity; + static constexpr double meridian_radius_of_curvature_numerator = equatorial_radius * (1.0 - eccentricity2); + static constexpr double gravity_equator = 9.7803253359; + }; + private: // Convert between curvilinear and cartesian errors static matrix::Vector2d deltaLatLonToDeltaXY(const double latitude, const float altitude); @@ -105,13 +113,6 @@ private: static void computeRadiiOfCurvature(const double latitude, double &meridian_radius_of_curvature, double &transverse_radius_of_curvature); - struct Wgs84 { - static constexpr double equatorial_radius = 6378137.0; - static constexpr double eccentricity = 0.0818191908425; - static constexpr double eccentricity2 = eccentricity * eccentricity; - static constexpr double meridian_radius_of_curvature_numerator = equatorial_radius * (1.0 - eccentricity2); - }; - double _latitude_rad{0.0}; double _longitude_rad{0.0}; float _altitude{0.0};