Refactored a8 codes and added remote testing app a8_remote.

misc/camera/a8/utilsTargetLocation.hpp

@@ -0,0 +1,40 @@
+#pragma once
+
+#include <cstdint>
+
+struct GPSData
+{
+    float latitude;  // Decimal degrees
+    float longitude; // Decimal degrees
+    float altitude;  // Meters
+};
+
+struct CameraData
+{
+    uint16_t height; // Pixels
+    uint16_t width;  // Pixels
+    float pitch;     // Degrees
+    float yaw;       // Degrees
+    float fow;       // Degrees
+};
+
+struct DroneData
+{
+    GPSData gps;
+    float yaw;   // Degrees
+    float pitch; // Degrees
+    float roll;  // Degrees
+};
+
+class UtilsTargetLocation
+{
+public:
+    static GPSData getLocation(float altitude, float latitude, float lognitude, float yaw, float pitch, float roll, float targetTrueSize, uint16_t targetPixelSize);
+    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 degreesToRadians(float degrees);
+    static GPSData calculateTargetLocation(DroneData drone, CameraData camera, float distance, float bearing);
+};