From fccc5465eac3043f385e4cd85495b515c39b7099 Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Thu, 16 Nov 2023 00:22:18 +0100
Subject: [PATCH] [AeroUtils] Improved documentation of geodetic2NED function
---
src/shared/utils/AeroUtils/AeroUtils.cpp | 8 ++++----
src/shared/utils/AeroUtils/AeroUtils.h | 11 ++++++-----
2 files changed, 10 insertions(+), 9 deletions(-)
diff --git a/src/shared/utils/AeroUtils/AeroUtils.cpp b/src/shared/utils/AeroUtils/AeroUtils.cpp
index a93755137..bd9f69921 100644
--- a/src/shared/utils/AeroUtils/AeroUtils.cpp
+++ b/src/shared/utils/AeroUtils/AeroUtils.cpp
@@ -71,15 +71,15 @@ float verticalSpeed(float p, float dpDt, float pRef, float tRef)
return -(tRef * dpDt * powf(p / pRef, nInv)) / (a * n * p);
}
-Vector2f geodetic2NED(const Vector2f& gpsData, const Vector2f& offset)
+Vector2f geodetic2NED(const Vector2f& target, const Vector2f& origin)
{
float mPerDegLat = 111132.95225;
float mPerDegLon =
- fabsf(111412.87733 * cosf(gpsData[0] * Constants::DEGREES_TO_RADIANS));
+ fabsf(111412.87733 * cosf(target[0] * Constants::DEGREES_TO_RADIANS));
return {
- mPerDegLat * (gpsData[0] - offset[0]),
- mPerDegLon * (gpsData[1] - offset[1]),
+ mPerDegLat * (target[0] - origin[0]),
+ mPerDegLon * (target[1] - origin[1]),
};
}
diff --git a/src/shared/utils/AeroUtils/AeroUtils.h b/src/shared/utils/AeroUtils/AeroUtils.h
index ae170e3de..e3e61661d 100644
--- a/src/shared/utils/AeroUtils/AeroUtils.h
+++ b/src/shared/utils/AeroUtils/AeroUtils.h
@@ -173,12 +173,13 @@ float verticalSpeed(float p, float dpDt, float pRef, float tRef);
* @brief Converts decimal degrees of latitude and longitude into displacement
* in meters between two positions the with an ellipsoidal earth model.
*
- * @param position1 Latitude and longitude of current position [lat lon][deg]
- * @param position2 Initial position used as an offset [lat lon][deg]
- * @return Distance between the two coordinates [n e][m]
+ * @param target Coordinates of target position [lat lon][deg]
+ * @param origin Coordinates of the Initial position used as the origin of the
+ * NED frame [lat lon][deg]
+ * @return Target NED position with respect to the origin coordinates [n e][m]
*/
-Eigen::Vector2f geodetic2NED(const Eigen::Vector2f& position1,
- const Eigen::Vector2f& position2);
+Eigen::Vector2f geodetic2NED(const Eigen::Vector2f& target,
+ const Eigen::Vector2f& origin);
/**
* @brief Computes the rho (air density) of air at the given altitude.
--
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