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Plugin to make Terrain DAT file for copying to the SD card of the fli…
…ght controller
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,125 @@ | ||
| using System; | ||
| using System.Collections.Generic; | ||
| using System.Linq; | ||
| using System.Text; | ||
| using System.Threading.Tasks; | ||
| using static IronPython.Modules.PythonThread; | ||
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| namespace TerrainMakerPlugin | ||
| { | ||
| public class Location | ||
| { | ||
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| const double LOCATION_SCALING_FACTOR = 0.011131884502145034; | ||
| const double LOCATION_SCALING_FACTOR_INV = 89.83204953368922; | ||
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| // note that mission storage only stores 24 bits of altitude (~ +/- 83km) | ||
| public Int32 lat; // in 1E7 degrees | ||
| public Int32 lng; // in 1E7 degrees | ||
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| public Location() | ||
| { | ||
| lat = 0; | ||
| lng = 0; | ||
| } | ||
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| public Location(Int32 lat, Int32 lng) | ||
| { | ||
| this.lat = lat; | ||
| this.lng = lng; | ||
| } | ||
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| // return horizontal distance in meters between two locations | ||
| public double get_distance(Location loc2) | ||
| { | ||
| double dlat = (double)(loc2.lat - lat); | ||
| double dlng = ((double)diff_longitude(loc2.lng, lng)) * longitude_scale((lat + loc2.lat) / 2); | ||
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| return Math.Sqrt(dlat*dlat + dlng*dlng) * LOCATION_SCALING_FACTOR; | ||
| } | ||
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| public double longitude_scale(Int32 lat) | ||
| { | ||
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| double scale = Math.Cos(lat * (1.0e-7 * (Math.PI / 180.0))); | ||
| return Math.Max(scale, 0.01); | ||
| } | ||
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| /* | ||
| get lon1-lon2, wrapping at -180e7 to 180e7 | ||
| */ | ||
| public Int32 diff_longitude(Int32 lon1, Int32 lon2) | ||
| { | ||
| if ((lon1 & 0x80000000) == (lon2 & 0x80000000)) | ||
| { | ||
| // common case of same sign | ||
| return lon1 - lon2; | ||
| } | ||
| long dlon = (long)lon1 - (long)lon2; | ||
| if (dlon > 1800000000L) | ||
| { | ||
| dlon -= 3600000000L; | ||
| } | ||
| else if (dlon < -1800000000L) | ||
| { | ||
| dlon += 3600000000L; | ||
| } | ||
| return (Int32)dlon; | ||
| } | ||
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| /* | ||
| return the distance in meters in North/East plane as a N/E vector | ||
| from loc1 to loc2 | ||
| */ | ||
| public Vector2d get_distance_NE(Location loc2) | ||
| { | ||
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| Vector2d retvect = new Vector2d((loc2.lat - lat) * LOCATION_SCALING_FACTOR, | ||
| diff_longitude(loc2.lng, lng) * LOCATION_SCALING_FACTOR * longitude_scale((loc2.lat + lat) / 2)); | ||
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| return retvect; | ||
| } | ||
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| // extrapolate latitude/longitude given distances (in meters) north and east | ||
| public Location add_offset_meters(double ofs_north, double ofs_east) | ||
| { | ||
| double dlat = ofs_north * LOCATION_SCALING_FACTOR_INV; | ||
| double dlng = (ofs_east * LOCATION_SCALING_FACTOR_INV) / longitude_scale((Int32)(lat + dlat / 2)); | ||
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| Location retval = new Location(lat + (Int32)dlat, (Int32)(dlng + lng)); | ||
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| return retval; | ||
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| } | ||
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| } | ||
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| public class Vector2d | ||
| { | ||
| public double x; | ||
| public double y; | ||
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| public Vector2d(double x, double y) | ||
| { | ||
| this.x = x; | ||
| this.y = y; | ||
| } | ||
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| } | ||
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| } |
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