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geo: map projection: fix variable name to highlight the unit

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This commit is contained in:
Thomas Gubler
2014-05-06 11:24:33 +02:00
parent 7ab428976e
commit f24a6187b6
2 changed files with 18 additions and 20 deletions
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src/lib/geo/geo.c
+14 -16
View File
@@ -80,7 +80,6 @@ __EXPORT uint64_t map_projection_timestamp(const struct map_projection_reference
__EXPORT int map_projection_global_init(double lat_0, double lon_0, uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
{
if (strcmp("commander", getprogname() == 0)) {
return map_projection_init_timestamped(&mp_ref, lat_0, lon_0, timestamp);
} else {
return -1;
@@ -90,11 +89,10 @@ __EXPORT int map_projection_global_init(double lat_0, double lon_0, uint64_t tim
__EXPORT int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
{
ref->lat = lat_0 / 180.0 * M_PI;
ref->lon = lon_0 / 180.0 * M_PI;
ref->sin_lat = sin(ref->lat);
ref->cos_lat = cos(ref->lat);
ref->lat_rad = lat_0 * M_DEG_TO_RAD;
ref->lon_rad = lon_0 * M_DEG_TO_RAD;
ref->sin_lat = sin(ref->lat_rad);
ref->cos_lat = cos(ref->lat_rad);
ref->timestamp = timestamp;
ref->init_done = true;
@@ -107,19 +105,19 @@ __EXPORT int map_projection_init(struct map_projection_reference_s *ref, double
map_projection_init_timestamped(ref, lat_0, lon_0, hrt_absolute_time());
}
__EXPORT int map_projection_global_reference(double *ref_lat, double *ref_lon)
__EXPORT int map_projection_global_reference(double *ref_lat_rad, double *ref_lon_rad)
{
return map_projection_reference(&mp_ref, ref_lat, ref_lon);
return map_projection_reference(&mp_ref, ref_lat_rad, ref_lon_rad);
}
__EXPORT int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat, double *ref_lon)
__EXPORT int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad, double *ref_lon_rad)
{
if (!map_projection_initialized(ref)) {
return -1;
}
*ref_lat = ref->lat;
*ref_lon = ref->lon;
*ref_lat_rad = ref->lat_rad;
*ref_lon_rad = ref->lon_rad;
return 0;
}
@@ -141,13 +139,13 @@ __EXPORT int map_projection_project(const struct map_projection_reference_s *ref
double sin_lat = sin(lat_rad);
double cos_lat = cos(lat_rad);
double cos_d_lon = cos(lon_rad - ref->lon);
double cos_d_lon = cos(lon_rad - ref->lon_rad);
double c = acos(ref->sin_lat * sin_lat + ref->cos_lat * cos_lat * cos_d_lon);
double k = (c == 0.0) ? 1.0 : (c / sin(c));
*x = k * (ref->cos_lat * sin_lat - ref->sin_lat * cos_lat * cos_d_lon) * CONSTANTS_RADIUS_OF_EARTH;
*y = k * cos_lat * sin(lon_rad - ref->lon) * CONSTANTS_RADIUS_OF_EARTH;
*y = k * cos_lat * sin(lon_rad - ref->lon_rad) * CONSTANTS_RADIUS_OF_EARTH;
return 0;
}
@@ -174,11 +172,11 @@ __EXPORT int map_projection_reproject(const struct map_projection_reference_s *r
if (c != 0.0) {
lat_rad = asin(cos_c * ref->sin_lat + (x_rad * sin_c * ref->cos_lat) / c);
lon_rad = (ref->lon + atan2(y_rad * sin_c, c * ref->cos_lat * cos_c - x_rad * ref->sin_lat * sin_c));
lon_rad = (ref->lon_rad + atan2(y_rad * sin_c, c * ref->cos_lat * cos_c - x_rad * ref->sin_lat * sin_c));
} else {
lat_rad = ref->lat;
lon_rad = ref->lon;
lat_rad = ref->lat_rad;
lon_rad = ref->lon_rad;
}
*lat = lat_rad * 180.0 / M_PI;
src/lib/geo/geo.h
+4 -4
View File
@@ -69,8 +69,8 @@ struct crosstrack_error_s {
/* lat/lon are in radians */
struct map_projection_reference_s {
double lat;
double lon;
double lat_rad;
double lon_rad;
double sin_lat;
double cos_lat;
bool init_done;
@@ -105,13 +105,13 @@ __EXPORT uint64_t map_projection_timestamp(const struct map_projection_reference
* Writes the reference values of the global projection to ref_lat and ref_lon
* @return 0 if map_projection_init was called before, -1 else
*/
__EXPORT int map_projection_global_reference(double *ref_lat, double *ref_lon);
__EXPORT int map_projection_global_reference(double *ref_lat_rad, double *ref_lon_rad);
/**
* Writes the reference values of the projection given by the argument to ref_lat and ref_lon
* @return 0 if map_projection_init was called before, -1 else
*/
__EXPORT int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat, double *ref_lon);
__EXPORT int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad, double *ref_lon_rad);
/**
* Initializes the global map transformation.