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state.c
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state.c
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/*
* Copyright (C) 2011-2012 Felix Ruess <[email protected]>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, see
* <http://www.gnu.org/licenses/>.
*/
/**
* @file state.c
*
* General interface for the main vehicle states.
*
* This file contains the functions to automatically convert between
* the different representations. They should normally not be used
* directly and instead the stateGet/Set interfaces used.
* Also see the @ref state_interface "State Interface" page.
*
* @author Felix Ruess <[email protected]>
*/
#include "state.h"
struct State state;
/**
* @addtogroup state_interface
* @{
*/
void stateInit(void) {
state.pos_status = 0;
state.speed_status = 0;
state.accel_status = 0;
state.ned_to_body_orientation.status = 0;
state.rate_status = 0;
state.wind_air_status = 0;
state.ned_initialized_i = FALSE;
state.ned_initialized_f = FALSE;
state.utm_initialized_f = FALSE;
}
/*******************************************************************************
* *
* transformation functions for the POSITION representations *
* *
******************************************************************************/
/** @addtogroup state_position
* @{ */
void stateCalcPositionEcef_i(void) {
if (bit_is_set(state.pos_status, POS_ECEF_I))
return;
if (bit_is_set(state.pos_status, POS_ECEF_F)) {
ECEF_BFP_OF_REAL(state.ecef_pos_i, state.ecef_pos_f);
}
else if (bit_is_set(state.pos_status, POS_NED_I)) {
/// @todo check if resolution is good enough
ecef_of_ned_point_i(&state.ecef_pos_i, &state.ned_origin_i, &state.ned_pos_i);
}
else if (bit_is_set(state.pos_status, POS_NED_F)) {
/* transform ned_f to ecef_f, set status bit, then convert to int */
ecef_of_ned_point_f(&state.ecef_pos_f, &state.ned_origin_f, &state.ned_pos_f);
SetBit(state.pos_status, POS_ECEF_F);
ECEF_BFP_OF_REAL(state.ecef_pos_i, state.ecef_pos_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_F)) {
/* transform lla_f to ecef_f, set status bit, then convert to int */
ecef_of_lla_f(&state.ecef_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_ECEF_F);
ECEF_BFP_OF_REAL(state.ecef_pos_i, state.ecef_pos_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_I)) {
ecef_of_lla_i(&state.ecef_pos_i, &state.lla_pos_i);
}
else {
/* could not get this representation, set errno */
//struct EcefCoor_i _ecef_zero = {0};
//return _ecef_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.pos_status, POS_ECEF_I);
}
void stateCalcPositionNed_i(void) {
if (bit_is_set(state.pos_status, POS_NED_I))
return;
int errno = 0;
if (state.ned_initialized_i) {
if (bit_is_set(state.pos_status, POS_NED_F)) {
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
}
else if (bit_is_set(state.pos_status, POS_ENU_I)) {
INT32_VECT3_NED_OF_ENU(state.ned_pos_i, state.enu_pos_i);
}
else if (bit_is_set(state.pos_status, POS_ENU_F)) {
ENU_BFP_OF_REAL(state.enu_pos_i, state.enu_pos_f);
SetBit(state.pos_status, POS_ENU_I);
INT32_VECT3_NED_OF_ENU(state.ned_pos_i, state.enu_pos_i);
}
else if (bit_is_set(state.pos_status, POS_ECEF_I)) {
ned_of_ecef_point_i(&state.ned_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
}
else if (bit_is_set(state.pos_status, POS_ECEF_F)) {
/* transform ecef_f -> ned_f, set status bit, then convert to int */
ned_of_ecef_point_f(&state.ned_pos_f, &state.ned_origin_f, &state.ecef_pos_f);
SetBit(state.pos_status, POS_NED_F);
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_F)) {
/* transform lla_f -> ecef_f -> ned_f, set status bits, then convert to int */
ecef_of_lla_f(&state.ecef_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_ECEF_F);
ned_of_ecef_point_f(&state.ned_pos_f, &state.ned_origin_f, &state.ecef_pos_f);
SetBit(state.pos_status, POS_NED_F);
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_I)) {
ned_of_lla_point_i(&state.ned_pos_i, &state.ned_origin_i, &state.lla_pos_i);
}
else { /* could not get this representation, set errno */
errno = 1;
}
}
else if (state.utm_initialized_f) {
if (bit_is_set(state.pos_status, POS_NED_F)) {
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
}
else if (bit_is_set(state.pos_status, POS_ENU_I)) {
INT32_VECT3_NED_OF_ENU(state.ned_pos_i, state.enu_pos_i);
}
else if (bit_is_set(state.pos_status, POS_ENU_F)) {
ENU_BFP_OF_REAL(state.enu_pos_i, state.enu_pos_f);
SetBit(state.pos_status, POS_ENU_I);
INT32_VECT3_NED_OF_ENU(state.ned_pos_i, state.enu_pos_i);
}
else if (bit_is_set(state.pos_status, POS_UTM_F)) {
/* transform utm_f -> ned_f -> ned_i, set status bits */
NED_OF_UTM_DIFF(state.ned_pos_f, state.utm_pos_f, state.utm_origin_f);
SetBit(state.pos_status, POS_NED_F);
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_F)) {
/* transform lla_f -> utm_f -> ned_f -> ned_i, set status bits */
utm_of_lla_f(&state.utm_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_UTM_F);
NED_OF_UTM_DIFF(state.ned_pos_f, state.utm_pos_f, state.utm_origin_f);
SetBit(state.pos_status, POS_NED_F);
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_I)) {
/* transform lla_i -> lla_f -> utm_f -> ned_f -> ned_i, set status bits */
LLA_FLOAT_OF_BFP(state.lla_pos_f, state.lla_pos_i);
SetBit(state.pos_status, POS_LLA_F);
utm_of_lla_f(&state.utm_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_UTM_F);
NED_OF_UTM_DIFF(state.ned_pos_f, state.utm_pos_f, state.utm_origin_f);
SetBit(state.pos_status, POS_NED_F);
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
}
else { /* could not get this representation, set errno */
errno = 2;
}
}
else { /* ned coordinate system not initialized, set errno */
errno = 3;
}
if (errno) {
//struct NedCoor_i _ned_zero = {0};
//return _ned_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.pos_status, POS_NED_I);
}
void stateCalcPositionEnu_i(void) {
if (bit_is_set(state.pos_status, POS_ENU_I))
return;
int errno = 0;
if (state.ned_initialized_i) {
if (bit_is_set(state.pos_status, POS_NED_I)) {
INT32_VECT3_ENU_OF_NED(state.enu_pos_i, state.ned_pos_i);
}
else if (bit_is_set(state.pos_status, POS_ENU_F)) {
ENU_BFP_OF_REAL(state.enu_pos_i, state.enu_pos_f);
}
else if (bit_is_set(state.pos_status, POS_NED_F)) {
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
SetBit(state.pos_status, POS_NED_I);
INT32_VECT3_ENU_OF_NED(state.enu_pos_i, state.ned_pos_i);
}
else if (bit_is_set(state.pos_status, POS_ECEF_I)) {
enu_of_ecef_point_i(&state.enu_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
}
else if (bit_is_set(state.pos_status, POS_ECEF_F)) {
/* transform ecef_f -> enu_f, set status bit, then convert to int */
enu_of_ecef_point_f(&state.enu_pos_f, &state.ned_origin_f, &state.ecef_pos_f);
SetBit(state.pos_status, POS_ENU_F);
ENU_BFP_OF_REAL(state.enu_pos_i, state.enu_pos_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_F)) {
/* transform lla_f -> ecef_f -> enu_f, set status bits, then convert to int */
ecef_of_lla_f(&state.ecef_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_ECEF_F);
enu_of_ecef_point_f(&state.enu_pos_f, &state.ned_origin_f, &state.ecef_pos_f);
SetBit(state.pos_status, POS_ENU_F);
ENU_BFP_OF_REAL(state.enu_pos_i, state.enu_pos_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_I)) {
enu_of_lla_point_i(&state.enu_pos_i, &state.ned_origin_i, &state.lla_pos_i);
}
else { /* could not get this representation, set errno */
errno = 1;
}
}
else if (state.utm_initialized_f) {
if (bit_is_set(state.pos_status, POS_ENU_F)) {
ENU_BFP_OF_REAL(state.enu_pos_i, state.enu_pos_f);
}
else if (bit_is_set(state.pos_status, POS_NED_I)) {
INT32_VECT3_ENU_OF_NED(state.enu_pos_i, state.ned_pos_i);
}
else if (bit_is_set(state.pos_status, POS_NED_F)) {
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
SetBit(state.pos_status, POS_NED_I);
INT32_VECT3_ENU_OF_NED(state.enu_pos_i, state.ned_pos_i);
}
else if (bit_is_set(state.pos_status, POS_UTM_F)) {
/* transform utm_f -> enu_f -> enu_i , set status bits */
ENU_OF_UTM_DIFF(state.enu_pos_f, state.utm_pos_f, state.utm_origin_f);
SetBit(state.pos_status, POS_ENU_F);
ENU_BFP_OF_REAL(state.enu_pos_i, state.enu_pos_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_F)) {
/* transform lla_f -> utm_f -> enu_f -> enu_i , set status bits */
utm_of_lla_f(&state.utm_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_UTM_F);
ENU_OF_UTM_DIFF(state.enu_pos_f, state.utm_pos_f, state.utm_origin_f);
SetBit(state.pos_status, POS_ENU_F);
ENU_BFP_OF_REAL(state.enu_pos_i, state.enu_pos_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_I)) {
/* transform lla_i -> lla_f -> utm_f -> enu_f -> enu_i , set status bits */
LLA_FLOAT_OF_BFP(state.lla_pos_f, state.lla_pos_i);
SetBit(state.pos_status, POS_LLA_F);
utm_of_lla_f(&state.utm_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_UTM_F);
ENU_OF_UTM_DIFF(state.enu_pos_f, state.utm_pos_f, state.utm_origin_f);
SetBit(state.pos_status, POS_ENU_F);
ENU_BFP_OF_REAL(state.enu_pos_i, state.enu_pos_f);
}
else { /* could not get this representation, set errno */
errno = 2;
}
}
else { /* ned coordinate system not initialized, set errno */
errno = 3;
}
if (errno) {
//struct EnuCoor_i _enu_zero = {0};
//return _enu_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.pos_status, POS_ENU_I);
}
void stateCalcPositionLla_i(void) {
if (bit_is_set(state.pos_status, POS_LLA_I))
return;
if (bit_is_set(state.pos_status, POS_LLA_F)) {
LLA_BFP_OF_REAL(state.lla_pos_i, state.lla_pos_f);
}
else if (bit_is_set(state.pos_status, POS_ECEF_I)) {
lla_of_ecef_i(&state.lla_pos_i, &state.ecef_pos_i);
}
else if (bit_is_set(state.pos_status, POS_ECEF_F)) {
/* transform ecef_f -> lla_f, set status bit, then convert to int */
lla_of_ecef_f(&state.lla_pos_f, &state.ecef_pos_f);
SetBit(state.pos_status, POS_LLA_F);
LLA_BFP_OF_REAL(state.lla_pos_i, state.lla_pos_f);
}
else if (bit_is_set(state.pos_status, POS_NED_F)) {
/* transform ned_f -> ecef_f -> lla_f -> lla_i, set status bits */
ecef_of_ned_point_f(&state.ecef_pos_f, &state.ned_origin_f, &state.ned_pos_f);
SetBit(state.pos_status, POS_ECEF_F);
lla_of_ecef_f(&state.lla_pos_f, &state.ecef_pos_f);
SetBit(state.pos_status, POS_LLA_F);
LLA_BFP_OF_REAL(state.lla_pos_i, state.lla_pos_f);
}
else if (bit_is_set(state.pos_status, POS_NED_I)) {
/* transform ned_i -> ecef_i -> lla_i, set status bits */
/// @todo check if resolution is enough
ecef_of_ned_point_i(&state.ecef_pos_i, &state.ned_origin_i, &state.ned_pos_i);
SetBit(state.pos_status, POS_ECEF_I);
lla_of_ecef_i(&state.lla_pos_i, &state.ecef_pos_i); /* uses double version internally */
}
else if (bit_is_set(state.pos_status, POS_UTM_F)) {
/* transform utm_f -> lla_f -> lla_i, set status bits */
lla_of_utm_f(&state.lla_pos_f, &state.utm_pos_f);
SetBit(state.pos_status, POS_LLA_F);
LLA_BFP_OF_REAL(state.lla_pos_i, state.lla_pos_f);
}
else {
/* could not get this representation, set errno */
//struct LlaCoor_i _lla_zero = {0};
//return _lla_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.pos_status, POS_LLA_I);
}
void stateCalcPositionUtm_f(void) {
if (bit_is_set(state.pos_status, POS_UTM_F))
return;
if (bit_is_set(state.pos_status, POS_LLA_F)) {
utm_of_lla_f(&state.utm_pos_f, &state.lla_pos_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_I)) {
/* transform lla_i -> lla_f -> utm_f, set status bits */
LLA_FLOAT_OF_BFP(state.lla_pos_f, state.lla_pos_i);
SetBit(state.pos_status, POS_LLA_F);
utm_of_lla_f(&state.utm_pos_f, &state.lla_pos_f);
}
else {
/* could not get this representation, set errno */
//struct EcefCoor_f _ecef_zero = {0.0f};
//return _ecef_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.pos_status, POS_UTM_F);
}
void stateCalcPositionEcef_f(void) {
if (bit_is_set(state.pos_status, POS_ECEF_F))
return;
if (bit_is_set(state.pos_status, POS_ECEF_I)) {
ECEF_FLOAT_OF_BFP(state.ecef_pos_f, state.ecef_pos_i);
}
else if (bit_is_set(state.pos_status, POS_NED_F)) {
ecef_of_ned_point_f(&state.ecef_pos_f, &state.ned_origin_f, &state.ned_pos_f);
}
else if (bit_is_set(state.pos_status, POS_NED_I)) {
/* transform ned_i -> ecef_i -> ecef_f, set status bits */
/// @todo check if resolution is good enough
ecef_of_ned_point_i(&state.ecef_pos_i, &state.ned_origin_i, &state.ned_pos_i);
SetBit(state.pos_status, POS_ECEF_F);
ECEF_FLOAT_OF_BFP(state.ecef_pos_f, state.ecef_pos_i);
}
else if (bit_is_set(state.pos_status, POS_LLA_F)) {
ecef_of_lla_f(&state.ecef_pos_f, &state.lla_pos_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_I)) {
LLA_FLOAT_OF_BFP(state.lla_pos_f, state.lla_pos_i);
SetBit(state.pos_status, POS_LLA_F);
ecef_of_lla_f(&state.ecef_pos_f, &state.lla_pos_f);
}
else {
/* could not get this representation, set errno */
//struct EcefCoor_f _ecef_zero = {0.0f};
//return _ecef_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.pos_status, POS_ECEF_F);
}
void stateCalcPositionNed_f(void) {
if (bit_is_set(state.pos_status, POS_NED_F))
return;
int errno = 0;
if (state.ned_initialized_f) {
if (bit_is_set(state.pos_status, POS_NED_I)) {
NED_FLOAT_OF_BFP(state.ned_pos_f, state.ned_pos_i);
}
else if (bit_is_set(state.pos_status, POS_ECEF_F)) {
ned_of_ecef_point_f(&state.ned_pos_f, &state.ned_origin_f, &state.ecef_pos_f);
}
else if (bit_is_set(state.pos_status, POS_ECEF_I)) {
/* transform ecef_i -> ned_i -> ned_f, set status bits */
ned_of_ecef_point_i(&state.ned_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
SetBit(state.pos_status, POS_NED_I);
NED_FLOAT_OF_BFP(state.ned_pos_f, state.ned_pos_i);
}
else if (bit_is_set(state.pos_status, POS_LLA_F)) {
ned_of_lla_point_f(&state.ned_pos_f, &state.ned_origin_f, &state.lla_pos_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_I)) {
/* transform lla_i -> ecef_i -> ned_i -> ned_f, set status bits */
ecef_of_lla_i(&state.ecef_pos_i, &state.lla_pos_i); /* converts to doubles internally */
SetBit(state.pos_status, POS_ECEF_I);
ned_of_ecef_point_i(&state.ned_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
SetBit(state.pos_status, POS_NED_I);
NED_FLOAT_OF_BFP(state.ned_pos_f, state.ned_pos_i);
}
else { /* could not get this representation, set errno */
errno = 1;
}
}
else if (state.utm_initialized_f) {
if (bit_is_set(state.pos_status, POS_NED_I)) {
NED_FLOAT_OF_BFP(state.ned_pos_f, state.ned_pos_i);
}
else if (bit_is_set(state.pos_status, POS_ENU_I)) {
ENU_FLOAT_OF_BFP(state.enu_pos_f, state.enu_pos_i);
SetBit(state.pos_status, POS_ENU_F);
VECT3_NED_OF_ENU(state.ned_pos_f, state.enu_pos_f);
}
else if (bit_is_set(state.pos_status, POS_ENU_F)) {
VECT3_NED_OF_ENU(state.ned_pos_f, state.enu_pos_f);
}
else if (bit_is_set(state.pos_status, POS_UTM_F)) {
NED_OF_UTM_DIFF(state.ned_pos_f, state.utm_pos_f, state.utm_origin_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_F)) {
/* transform lla_f -> utm_f -> ned, set status bits */
utm_of_lla_f(&state.utm_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_UTM_F);
NED_OF_UTM_DIFF(state.ned_pos_f, state.utm_pos_f, state.utm_origin_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_I)) {
/* transform lla_i -> lla_f -> utm_f -> ned, set status bits */
LLA_FLOAT_OF_BFP(state.lla_pos_f, state.lla_pos_i);
SetBit(state.pos_status, POS_LLA_F);
utm_of_lla_f(&state.utm_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_UTM_F);
NED_OF_UTM_DIFF(state.ned_pos_f, state.utm_pos_f, state.utm_origin_f);
}
else { /* could not get this representation, set errno */
errno = 2;
}
}
else { /* ned coordinate system not initialized, set errno */
errno = 3;
}
if (errno) {
//struct NedCoor_f _ned_zero = {0.0f};
//return _ned_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.pos_status, POS_NED_F);
}
void stateCalcPositionEnu_f(void) {
if (bit_is_set(state.pos_status, POS_ENU_F))
return;
int errno = 0;
if (state.ned_initialized_f) {
if (bit_is_set(state.pos_status, POS_NED_F)) {
VECT3_ENU_OF_NED(state.enu_pos_f, state.ned_pos_f);
}
else if (bit_is_set(state.pos_status, POS_ENU_I)) {
ENU_FLOAT_OF_BFP(state.enu_pos_f, state.enu_pos_i);
}
else if (bit_is_set(state.pos_status, POS_NED_I)) {
NED_FLOAT_OF_BFP(state.ned_pos_f, state.ned_pos_i);
SetBit(state.pos_status, POS_NED_F);
VECT3_ENU_OF_NED(state.enu_pos_f, state.ned_pos_f);
}
else if (bit_is_set(state.pos_status, POS_ECEF_F)) {
enu_of_ecef_point_f(&state.enu_pos_f, &state.ned_origin_f, &state.ecef_pos_f);
}
else if (bit_is_set(state.pos_status, POS_ECEF_I)) {
/* transform ecef_i -> enu_i -> enu_f, set status bits */
enu_of_ecef_point_i(&state.enu_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
SetBit(state.pos_status, POS_ENU_I);
ENU_FLOAT_OF_BFP(state.enu_pos_f, state.enu_pos_i);
}
else if (bit_is_set(state.pos_status, POS_LLA_F)) {
enu_of_lla_point_f(&state.enu_pos_f, &state.ned_origin_f, &state.lla_pos_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_I)) {
/* transform lla_i -> ecef_i -> enu_i -> enu_f, set status bits */
ecef_of_lla_i(&state.ecef_pos_i, &state.lla_pos_i); /* converts to doubles internally */
SetBit(state.pos_status, POS_ECEF_I);
enu_of_ecef_point_i(&state.enu_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
SetBit(state.pos_status, POS_ENU_I);
ENU_FLOAT_OF_BFP(state.enu_pos_f, state.enu_pos_i);
}
else { /* could not get this representation, set errno */
errno = 1;
}
}
else if (state.utm_initialized_f) {
if (bit_is_set(state.pos_status, POS_ENU_I)) {
ENU_FLOAT_OF_BFP(state.enu_pos_f, state.enu_pos_i);
}
else if (bit_is_set(state.pos_status, POS_NED_F)) {
VECT3_ENU_OF_NED(state.enu_pos_f, state.ned_pos_f);
}
else if (bit_is_set(state.pos_status, POS_NED_I)) {
NED_FLOAT_OF_BFP(state.ned_pos_f, state.ned_pos_i);
SetBit(state.pos_status, POS_NED_F);
VECT3_ENU_OF_NED(state.enu_pos_f, state.ned_pos_f);
}
else if (bit_is_set(state.pos_status, POS_UTM_F)) {
ENU_OF_UTM_DIFF(state.enu_pos_f, state.utm_pos_f, state.utm_origin_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_F)) {
/* transform lla_f -> utm_f -> enu, set status bits */
utm_of_lla_f(&state.utm_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_UTM_F);
ENU_OF_UTM_DIFF(state.enu_pos_f, state.utm_pos_f, state.utm_origin_f);
}
else if (bit_is_set(state.pos_status, POS_LLA_I)) {
/* transform lla_i -> lla_f -> utm_f -> enu, set status bits */
LLA_FLOAT_OF_BFP(state.lla_pos_f, state.lla_pos_i);
SetBit(state.pos_status, POS_LLA_F);
utm_of_lla_f(&state.utm_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_UTM_F);
ENU_OF_UTM_DIFF(state.enu_pos_f, state.utm_pos_f, state.utm_origin_f);
}
else { /* could not get this representation, set errno */
errno = 2;
}
}
else { /* ned coordinate system not initialized, set errno */
errno = 3;
}
if (errno) {
//struct EnuCoor_f _enu_zero = {0.0f};
//return _enu_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.pos_status, POS_ENU_F);
}
void stateCalcPositionLla_f(void) {
if (bit_is_set(state.pos_status, POS_LLA_F))
return;
if (bit_is_set(state.pos_status, POS_LLA_I)) {
LLA_FLOAT_OF_BFP(state.lla_pos_f, state.lla_pos_f);
}
else if (bit_is_set(state.pos_status, POS_ECEF_F)) {
lla_of_ecef_f(&state.lla_pos_f, &state.ecef_pos_f);
}
else if (bit_is_set(state.pos_status, POS_ECEF_I)) {
/* transform ecef_i -> ecef_f -> lla_f, set status bits */
ECEF_FLOAT_OF_BFP(state.ecef_pos_f, state.ecef_pos_i);
SetBit(state.pos_status, POS_ECEF_F);
lla_of_ecef_f(&state.lla_pos_f, &state.ecef_pos_f);
}
else if (bit_is_set(state.pos_status, POS_NED_F)) {
/* transform ned_f -> ecef_f -> lla_f, set status bits */
ecef_of_ned_point_f(&state.ecef_pos_f, &state.ned_origin_f, &state.ned_pos_f);
SetBit(state.pos_status, POS_ECEF_F);
lla_of_ecef_f(&state.lla_pos_f, &state.ecef_pos_f);
}
else if (bit_is_set(state.pos_status, POS_NED_I)) {
/* transform ned_i -> ned_f -> ecef_f -> lla_f, set status bits */
NED_FLOAT_OF_BFP(state.ned_pos_f, state.ned_pos_i);
SetBit(state.pos_status, POS_NED_F);
ecef_of_ned_point_f(&state.ecef_pos_f, &state.ned_origin_f, &state.ned_pos_f);
SetBit(state.pos_status, POS_ECEF_F);
lla_of_ecef_f(&state.lla_pos_f, &state.ecef_pos_f);
}
else if (bit_is_set(state.pos_status, POS_UTM_F)) {
lla_of_utm_f(&state.lla_pos_f, &state.utm_pos_f);
}
else {
/* could not get this representation, set errno */
//struct LlaCoor_f _lla_zero = {0.0};
//return _lla_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.pos_status, POS_LLA_F);
}
/** @}*/
/******************************************************************************
* *
* Transformation functions for the SPEED representations *
* *
*****************************************************************************/
/** @addtogroup state_velocity
* @{ */
/************************ Set functions ****************************/
void stateCalcSpeedNed_i(void) {
if (bit_is_set(state.speed_status, SPEED_NED_I))
return;
int errno = 0;
if (state.ned_initialized_i) {
if (bit_is_set(state.speed_status, SPEED_NED_F)) {
SPEEDS_BFP_OF_REAL(state.ned_speed_i, state.ned_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_I)) {
INT32_VECT3_NED_OF_ENU(state.ned_speed_i, state.enu_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
SPEEDS_BFP_OF_REAL(state.enu_speed_i, state.enu_speed_f);
SetBit(state.speed_status, SPEED_ENU_I);
INT32_VECT3_NED_OF_ENU(state.ned_speed_i, state.enu_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_ECEF_I)) {
ned_of_ecef_vect_i(&state.ned_speed_i, &state.ned_origin_i, &state.ecef_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_ECEF_F)) {
/* transform ecef_f -> ecef_i -> ned_i , set status bits */
SPEEDS_BFP_OF_REAL(state.ecef_speed_i, state.ecef_speed_f);
SetBit(state.speed_status, SPEED_ECEF_I);
ned_of_ecef_vect_i(&state.ned_speed_i, &state.ned_origin_i, &state.ecef_speed_i);
}
else { /* could not get this representation, set errno */
errno = 1;
}
}
else if (state.utm_initialized_f) {
if (bit_is_set(state.speed_status, SPEED_NED_F)) {
SPEEDS_BFP_OF_REAL(state.ned_speed_i, state.ned_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_I)) {
INT32_VECT3_NED_OF_ENU(state.ned_speed_i, state.enu_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
SPEEDS_BFP_OF_REAL(state.enu_speed_i, state.enu_speed_f);
SetBit(state.speed_status, SPEED_ENU_I);
INT32_VECT3_NED_OF_ENU(state.ned_speed_i, state.enu_speed_i);
}
else { /* could not get this representation, set errno */
errno = 2;
}
}
else { /* ned coordinate system not initialized, set errno */
errno = 3;
}
if (errno) {
//struct NedCoor_i _ned_zero = {0};
//return _ned_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.speed_status, SPEED_NED_I);
}
void stateCalcSpeedEnu_i(void) {
if (bit_is_set(state.speed_status, SPEED_ENU_I))
return;
int errno = 0;
if (state.ned_initialized_i) {
if (bit_is_set(state.speed_status, SPEED_NED_I)) {
INT32_VECT3_ENU_OF_NED(state.enu_speed_i, state.ned_speed_i);
}
if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
ENU_BFP_OF_REAL(state.enu_speed_i, state.enu_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_NED_F)) {
SPEEDS_BFP_OF_REAL(state.ned_speed_i, state.ned_speed_f);
SetBit(state.pos_status, SPEED_NED_I);
INT32_VECT3_ENU_OF_NED(state.enu_speed_i, state.ned_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_ECEF_I)) {
enu_of_ecef_vect_i(&state.enu_speed_i, &state.ned_origin_i, &state.ecef_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_ECEF_F)) {
/* transform ecef_f -> ecef_i -> enu_i , set status bits */
SPEEDS_BFP_OF_REAL(state.ecef_speed_i, state.ecef_speed_f);
SetBit(state.speed_status, SPEED_ECEF_I);
enu_of_ecef_vect_i(&state.enu_speed_i, &state.ned_origin_i, &state.ecef_speed_i);
}
else { /* could not get this representation, set errno */
errno = 1;
}
}
else if (state.utm_initialized_f) {
if (bit_is_set(state.speed_status, SPEED_NED_I)) {
INT32_VECT3_ENU_OF_NED(state.enu_speed_i, state.ned_speed_i);
}
if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
ENU_BFP_OF_REAL(state.enu_speed_i, state.enu_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_NED_F)) {
SPEEDS_BFP_OF_REAL(state.ned_speed_i, state.ned_speed_f);
SetBit(state.pos_status, SPEED_NED_I);
INT32_VECT3_ENU_OF_NED(state.enu_speed_i, state.ned_speed_i);
}
else { /* could not get this representation, set errno */
errno = 2;
}
}
else { /* ned coordinate system not initialized, set errno */
errno = 3;
}
if (errno) {
//struct EnuCoor_i _enu_zero = {0};
//return _enu_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.speed_status, SPEED_ENU_I);
}
void stateCalcSpeedEcef_i(void) {
if (bit_is_set(state.speed_status, SPEED_ECEF_I))
return;
if (bit_is_set(state.speed_status, SPEED_ECEF_F)) {
SPEEDS_BFP_OF_REAL(state.ecef_speed_i, state.ecef_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_NED_I)) {
ecef_of_ned_vect_i(&state.ecef_speed_i, &state.ned_origin_i, &state.ned_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_NED_F)) {
/* transform ned_f -> ned_i -> ecef_i , set status bits */
SPEEDS_BFP_OF_REAL(state.ned_speed_i, state.ned_speed_f);
SetBit(state.speed_status, SPEED_NED_I);
ecef_of_ned_vect_i(&state.ecef_speed_i, &state.ned_origin_i, &state.ned_speed_i);
}
else {
/* could not get this representation, set errno */
//struct EcefCoor_i _ecef_zero = {0};
//return _ecef_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.speed_status, SPEED_ECEF_I);
}
void stateCalcHorizontalSpeedNorm_i(void) {
if (bit_is_set(state.speed_status, SPEED_HNORM_I))
return;
if (bit_is_set(state.speed_status, SPEED_HNORM_F)){
state.h_speed_norm_i = SPEED_BFP_OF_REAL(state.h_speed_norm_f);
}
else if (bit_is_set(state.speed_status, SPEED_NED_I)) {
/// @todo consider INT32_SPEED_FRAC
INT32_VECT2_NORM(state.h_speed_norm_i, state.ned_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_NED_F)) {
FLOAT_VECT2_NORM(state.h_speed_norm_f, state.ned_speed_f);
SetBit(state.speed_status, SPEED_HNORM_F);
state.h_speed_norm_i = SPEED_BFP_OF_REAL(state.h_speed_norm_f);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_I)) {
/// @todo consider INT32_SPEED_FRAC
INT32_VECT2_NORM(state.h_speed_norm_i, state.enu_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
FLOAT_VECT2_NORM(state.h_speed_norm_f, state.enu_speed_f);
SetBit(state.speed_status, SPEED_HNORM_F);
state.h_speed_norm_i = SPEED_BFP_OF_REAL(state.h_speed_norm_f);
}
else if (bit_is_set(state.speed_status, SPEED_ECEF_I)) {
/* transform ecef speed to ned, set status bit, then compute norm */
//foo
/// @todo consider INT32_SPEED_FRAC
//INT32_VECT2_NORM(state.h_speed_norm_i, state.ned_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_ECEF_F)) {
ned_of_ecef_vect_f(&state.ned_speed_f, &state.ned_origin_f, &state.ecef_speed_f);
SetBit(state.speed_status, SPEED_NED_F);
FLOAT_VECT2_NORM(state.h_speed_norm_f, state.ned_speed_f);
SetBit(state.speed_status, SPEED_HNORM_F);
state.h_speed_norm_i = SPEED_BFP_OF_REAL(state.h_speed_norm_f);
}
else {
//int32_t _norm_zero = 0;
//return _norm_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.speed_status, SPEED_HNORM_I);
}
void stateCalcHorizontalSpeedDir_i(void) {
if (bit_is_set(state.speed_status, SPEED_HDIR_I))
return;
if (bit_is_set(state.speed_status, SPEED_HDIR_F)){
state.h_speed_dir_i = SPEED_BFP_OF_REAL(state.h_speed_dir_f);
}
else if (bit_is_set(state.speed_status, SPEED_NED_I)) {
INT32_ATAN2(state.h_speed_dir_i, state.ned_speed_i.y, state.ned_speed_i.x);
INT32_COURSE_NORMALIZE(state.h_speed_dir_i);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_I)) {
INT32_ATAN2(state.h_speed_dir_i, state.enu_speed_i.x, state.enu_speed_i.y);
INT32_COURSE_NORMALIZE(state.h_speed_dir_i);
}
else if (bit_is_set(state.speed_status, SPEED_NED_F)) {
SPEEDS_BFP_OF_REAL(state.ned_speed_i, state.ned_speed_f);
SetBit(state.speed_status, SPEED_NED_I);
INT32_ATAN2(state.h_speed_dir_i, state.ned_speed_i.y, state.ned_speed_i.x);
INT32_COURSE_NORMALIZE(state.h_speed_dir_i);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
SPEEDS_BFP_OF_REAL(state.enu_speed_i, state.enu_speed_f);
SetBit(state.speed_status, SPEED_ENU_I);
INT32_ATAN2(state.h_speed_dir_i, state.enu_speed_i.x, state.enu_speed_i.y);
INT32_COURSE_NORMALIZE(state.h_speed_dir_i);
}
/* set bit to indicate this representation is computed */
SetBit(state.speed_status, SPEED_HDIR_I);
}
void stateCalcSpeedNed_f(void) {
if (bit_is_set(state.speed_status, SPEED_NED_F))
return;
int errno = 0;
if (state.ned_initialized_f) {
if (bit_is_set(state.speed_status, SPEED_NED_I)) {
SPEEDS_FLOAT_OF_BFP(state.ned_speed_f, state.ned_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
VECT3_NED_OF_ENU(state.ned_speed_f, state.enu_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_I)) {
SPEEDS_FLOAT_OF_BFP(state.enu_speed_f, state.enu_speed_i);
SetBit(state.speed_status, SPEED_ENU_F);
VECT3_NED_OF_ENU(state.ned_speed_f, state.enu_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_ECEF_F)) {
ned_of_ecef_vect_f(&state.ned_speed_f, &state.ned_origin_f, &state.ecef_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_ECEF_I)) {
/* transform ecef_i -> ecef_f -> ned_f , set status bits */
SPEEDS_FLOAT_OF_BFP(state.ecef_speed_f, state.ecef_speed_i);
SetBit(state.speed_status, SPEED_ECEF_F);
ned_of_ecef_vect_f(&state.ned_speed_f, &state.ned_origin_f, &state.ecef_speed_f);
}
else { /* could not get this representation, set errno */
errno = 1;
}
}
else if (state.utm_initialized_f) {
if (bit_is_set(state.speed_status, SPEED_NED_I)) {
SPEEDS_FLOAT_OF_BFP(state.ned_speed_f, state.ned_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
VECT3_NED_OF_ENU(state.ned_speed_f, state.enu_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_I)) {
SPEEDS_FLOAT_OF_BFP(state.enu_speed_f, state.enu_speed_i);
SetBit(state.speed_status, SPEED_ENU_F);
VECT3_NED_OF_ENU(state.ned_speed_f, state.enu_speed_f);
}
else { /* could not get this representation, set errno */
errno = 2;
}
}
else { /* ned coordinate system not initialized, set errno */
errno = 3;
}
if (errno) {
//struct NedCoor_f _ned_zero = {0.0f};
//return _ned_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.speed_status, SPEED_NED_F);
}
void stateCalcSpeedEnu_f(void) {
if (bit_is_set(state.speed_status, SPEED_ENU_F))
return;
int errno = 0;
if (state.ned_initialized_f) {
if (bit_is_set(state.speed_status, SPEED_NED_F)) {
VECT3_ENU_OF_NED(state.enu_speed_f, state.ned_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_I)) {
ENU_FLOAT_OF_BFP(state.enu_speed_f, state.enu_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_NED_I)) {
SPEEDS_FLOAT_OF_BFP(state.ned_speed_f, state.ned_speed_i);
SetBit(state.pos_status, SPEED_NED_F);
VECT3_ENU_OF_NED(state.enu_speed_f, state.ned_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_ECEF_F)) {
enu_of_ecef_vect_f(&state.enu_speed_f, &state.ned_origin_f, &state.ecef_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_ECEF_I)) {
/* transform ecef_I -> ecef_f -> enu_f , set status bits */
SPEEDS_FLOAT_OF_BFP(state.ecef_speed_f, state.ecef_speed_i);
SetBit(state.speed_status, SPEED_ECEF_F);
enu_of_ecef_vect_f(&state.enu_speed_f, &state.ned_origin_f, &state.ecef_speed_f);
}
else { /* could not get this representation, set errno */
errno = 1;
}
}
else if (state.utm_initialized_f) {
if (bit_is_set(state.speed_status, SPEED_NED_F)) {
VECT3_ENU_OF_NED(state.enu_speed_f, state.ned_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_I)) {
ENU_FLOAT_OF_BFP(state.enu_speed_f, state.enu_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_NED_I)) {
SPEEDS_FLOAT_OF_BFP(state.ned_speed_f, state.ned_speed_i);
SetBit(state.pos_status, SPEED_NED_F);
VECT3_ENU_OF_NED(state.enu_speed_f, state.ned_speed_f);
}
else { /* could not get this representation, set errno */
errno = 2;
}
}
else { /* ned coordinate system not initialized, set errno */
errno = 3;
}
if (errno) {
//struct EnuCoor_f _enu_zero = {0};
//return _enu_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.speed_status, SPEED_ENU_F);
}
void stateCalcSpeedEcef_f(void) {
if (bit_is_set(state.speed_status, SPEED_ECEF_F))
return;
if (bit_is_set(state.speed_status, SPEED_ECEF_I)) {
SPEEDS_FLOAT_OF_BFP(state.ecef_speed_f, state.ned_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_NED_F)) {
ecef_of_ned_vect_f(&state.ecef_speed_f, &state.ned_origin_f, &state.ned_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_NED_I)) {
/* transform ned_f -> ned_i -> ecef_i , set status bits */
SPEEDS_FLOAT_OF_BFP(state.ned_speed_f, state.ned_speed_i);
SetBit(state.speed_status, SPEED_NED_F);
ecef_of_ned_vect_f(&state.ecef_speed_f, &state.ned_origin_f, &state.ned_speed_f);
}
else {
/* could not get this representation, set errno */
//struct EcefCoor_f _ecef_zero = {0.0f};
//return _ecef_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.speed_status, SPEED_ECEF_F);
}
void stateCalcHorizontalSpeedNorm_f(void) {
if (bit_is_set(state.speed_status, SPEED_HNORM_F))
return;
if (bit_is_set(state.speed_status, SPEED_HNORM_I)){
state.h_speed_norm_f = SPEED_FLOAT_OF_BFP(state.h_speed_norm_i);
}
else if (bit_is_set(state.speed_status, SPEED_NED_F)) {
FLOAT_VECT2_NORM(state.h_speed_norm_f, state.ned_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
FLOAT_VECT2_NORM(state.h_speed_norm_f, state.enu_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_NED_I)) {
SPEEDS_FLOAT_OF_BFP(state.ned_speed_f, state.ned_speed_i);
SetBit(state.speed_status, SPEED_NED_F);
FLOAT_VECT2_NORM(state.h_speed_norm_f, state.ned_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_I)) {
SPEEDS_FLOAT_OF_BFP(state.enu_speed_f, state.enu_speed_i);
SetBit(state.speed_status, SPEED_ENU_F);
FLOAT_VECT2_NORM(state.h_speed_norm_f, state.enu_speed_f);
}
/* set bit to indicate this representation is computed */
SetBit(state.speed_status, SPEED_HNORM_F);
}
void stateCalcHorizontalSpeedDir_f(void) {
if (bit_is_set(state.speed_status, SPEED_HDIR_F))
return;
if (bit_is_set(state.speed_status, SPEED_HDIR_I)){
state.h_speed_dir_f = SPEED_FLOAT_OF_BFP(state.h_speed_dir_i);
}
else if (bit_is_set(state.speed_status, SPEED_NED_F)) {
state.h_speed_dir_f = atan2f(state.ned_speed_f.y, state.ned_speed_f.x);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
state.h_speed_dir_f = atan2f(state.enu_speed_f.x, state.enu_speed_f.y);
}
else if (bit_is_set(state.speed_status, SPEED_NED_I)) {
SPEEDS_FLOAT_OF_BFP(state.ned_speed_f, state.ned_speed_i);
SetBit(state.speed_status, SPEED_NED_F);