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Added new target location algorithm.

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Fixed issue with target altitude calculation.
This commit is contained in:
Nffj84
2024-07-16 18:15:10 +03:00
parent 46ad1f0ff7
commit 2b9bda1ff0
11 changed files with 98 additions and 47 deletions
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misc/camera/a8/utilsTargetLocation.hpp
+8 -4
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@@ -2,11 +2,13 @@
#include <cstdint>
const double EARTH_RADIUS = 6371000.0; // Earth's radius in meters
struct GPSData
{
float altitude; // Meters
float latitude; // Decimal degrees
float longitude; // Decimal degrees
float altitude; // Meters
};
struct CameraData
@@ -29,12 +31,14 @@ struct DroneData
class UtilsTargetLocation
{
public:
static GPSData getLocation(float altitude, float latitude, float lognitude, float yaw, float pitch, float roll, float targetTrueSize, uint16_t targetPixelSize);
//static GPSData getLocation(float altitude, float latitude, float lognitude, float yaw, float pitch, float roll, float targetTrueSize, uint16_t targetPixelSize);
static GPSData getLocation(float altitude, float latitude, float lognitude, float yaw, float pitch, float roll);
static void getAnglesToOnScreenTarget(uint16_t targetX, uint16_t targetY, float &resultYaw, float &resultPitch);
private:
static CameraData getCameraData();
static float calculateTargetDistance(float targetSize, uint16_t targetPixelSize, uint16_t imageWidth, float fov);
//static float calculateTargetDistanceFromTargetSize(float targetSize, uint16_t targetPixelSize, uint16_t imageWidth, float fov);
static void calculateDistancesToTarget(float altitude, float cameraPitch, float &slantDistance, float &horizontalDistance);
static float degreesToRadians(float degrees);
static GPSData calculateTargetLocation(DroneData drone, CameraData camera, float distance, float bearing);
static GPSData calculateTargetLocation(DroneData drone, CameraData camera);
};