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This commit is contained in:
Antoine Drouin
2009-03-02 07:01:45 +00:00
parent 9dcc25020a
commit 758ddfc77e
1 changed files with 7 additions and 9 deletions
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sw/airborne/pprz_geodetic_int.c
+7 -9
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@@ -20,10 +20,10 @@ void ltp_def_from_ecef_i(struct LtpDef_i* def, struct EcefCoor_i* ecef) {
/* store the rotation matrix */
#if 1
int32_t sin_lat = rint(BOOZ_INT_OF_FLOAT(sin(RAD_OF_EM7RAD((FLOAT_T)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t cos_lat = rint(BOOZ_INT_OF_FLOAT(cos(RAD_OF_EM7RAD((FLOAT_T)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t sin_lon = rint(BOOZ_INT_OF_FLOAT(sin(RAD_OF_EM7RAD((FLOAT_T)def->lla.lon)), HIGH_RES_TRIG_FRAC));
int32_t cos_lon = rint(BOOZ_INT_OF_FLOAT(cos(RAD_OF_EM7RAD((FLOAT_T)def->lla.lon)), HIGH_RES_TRIG_FRAC));
int32_t sin_lat = rint(BOOZ_INT_OF_FLOAT(sinf(RAD_OF_EM7RAD((float)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t cos_lat = rint(BOOZ_INT_OF_FLOAT(cosf(RAD_OF_EM7RAD((float)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t sin_lon = rint(BOOZ_INT_OF_FLOAT(sinf(RAD_OF_EM7RAD((float)def->lla.lon)), HIGH_RES_TRIG_FRAC));
int32_t cos_lon = rint(BOOZ_INT_OF_FLOAT(cosf(RAD_OF_EM7RAD((float)def->lla.lon)), HIGH_RES_TRIG_FRAC));
#else
int32_t sin_lat = rint(BOOZ_INT_OF_FLOAT(sin(RAD_OF_EM7RAD((double)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t cos_lat = rint(BOOZ_INT_OF_FLOAT(cos(RAD_OF_EM7RAD((double)def->lla.lat)), HIGH_RES_TRIG_FRAC));
@@ -78,8 +78,6 @@ void ned_of_ecef_point_i(struct NedCoor_i* ned, struct LtpDef_i* def, struct Ece
void enu_of_ecef_vect_i(struct EnuCoor_i* enu, struct LtpDef_i* def, struct EcefCoor_i* ecef) {
struct EcefCoor_i delta;
VECT3_DIFF(delta, *ecef, def->ecef);
const int64_t tmpx = (int64_t)def->ltp_of_ecef.m[0]*ecef->x +
(int64_t)def->ltp_of_ecef.m[1]*ecef->y +
0;
@@ -117,9 +115,9 @@ void lla_of_ecef_i(struct LlaCoor_i* out, struct EcefCoor_i* in) {
/* convert our input to floating point */
struct EcefCoor_f in_f;
in_f.x = M_OF_CM((FLOAT_T)in->x);
in_f.y = M_OF_CM((FLOAT_T)in->y);
in_f.z = M_OF_CM((FLOAT_T)in->z);
in_f.x = M_OF_CM((float)in->x);
in_f.y = M_OF_CM((float)in->y);
in_f.z = M_OF_CM((float)in->z);
/* calls the floating point transformation */
struct LlaCoor_f out_f;
lla_of_ecef_f(&out_f, &in_f);