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61 lines
1.6 KiB
61 lines
1.6 KiB
/* |
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* location.cpp |
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* Copyright (C) Andrew Tridgell 2011 |
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* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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* this module deals with calculations involving struct Location |
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*/ |
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#include <stdlib.h> |
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#include "AP_Math.h" |
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#include "location.h" |
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// return bearing in centi-degrees between two positions |
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float get_bearing_cd(const Vector2f &origin, const Vector2f &destination) |
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{ |
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float bearing = atan2f(destination.y-origin.y, destination.x-origin.x) * DEGX100; |
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if (bearing < 0) { |
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bearing += 36000.0f; |
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} |
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return bearing; |
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} |
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// return true when lat and lng are within range |
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bool check_lat(float lat) |
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{ |
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return fabsf(lat) <= 90; |
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} |
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bool check_lng(float lng) |
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{ |
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return fabsf(lng) <= 180; |
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} |
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bool check_lat(int32_t lat) |
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{ |
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return labs(lat) <= 90*1e7; |
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} |
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bool check_lng(int32_t lng) |
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{ |
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return labs(lng) <= 180*1e7; |
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} |
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bool check_latlng(float lat, float lng) |
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{ |
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return check_lat(lat) && check_lng(lng); |
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} |
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bool check_latlng(int32_t lat, int32_t lng) |
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{ |
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return check_lat(lat) && check_lng(lng); |
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} |
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