80 lines
2.4 KiB
C#
80 lines
2.4 KiB
C#
using System;
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using Microsoft.SPOT;
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using GHIElectronics.NETMF.System;
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namespace PlaneOnBoardSoftware
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{
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class Navigation
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{
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const float R = 6378137; // meter
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const double pi180 = MathEx.PI / 180;
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const float Rpi180 = R * (float)pi180;
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public float Radius = 50; // meter
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public double Latitude = 0;
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public double Longitude = 0;
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public double DestLatitude = 0;
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public double DestLongitude = 0;
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public bool GpsHasFix = false;
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public double GpsLatitude = 0;
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public double GpsLongitude = 0;
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public float AirSpeed = 0;
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public float Heading = 0;
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public float Pitch = 0;
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public float TargetHeading = 0;
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public float Distance = 0; // meter
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public void Calculate(float dt)
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{
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double Lat1;
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double Lon1;
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double Lat2;
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double Lon2;
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float bearing;
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float rdRatio;
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double dLon;
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double CosLat2;
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double y;
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double x;
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//Calculate position
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if (GpsHasFix)
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{
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Latitude = GpsLatitude;
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Longitude = GpsLongitude;
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}
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else
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{
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Latitude += AirSpeed * dt * MathEx.Cos(Heading * pi180) / Rpi180;
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Longitude += AirSpeed * dt * MathEx.Sin(Heading * pi180) * MathEx.Cos(Latitude * pi180) / Rpi180;
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}
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//Calculate flight path
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Lat1 = Latitude * pi180;
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Lon1 = Longitude * pi180;
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Lat2 = DestLatitude * pi180;
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Lon2 = DestLongitude * pi180;
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dLon = Lon2 - Lon1;
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CosLat2 = MathEx.Cos(Lat2);
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y = MathEx.Sin(dLon) * CosLat2;
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x = MathEx.Cos(Lat1) * MathEx.Sin(Lat2) -
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MathEx.Sin(Lat1) * CosLat2 * MathEx.Cos(dLon);
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bearing = (float)(MathEx.Atan2(y, x) / pi180);
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x = (Lon2 - Lon1) * MathEx.Cos((Lat1 + Lat2) / 2);
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y = (Lat2 - Lat1);
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Distance = (float)MathEx.Sqrt(x * x + y * y) * R;
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if (Distance > 1.0)
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{
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rdRatio = (Radius / Distance);
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TargetHeading = (bearing + 90 * (rdRatio * rdRatio) + 540) % 360 - 180;
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}
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}
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}
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}
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