coord_conventions.h

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/*******************************************************************************
 * \file coord_conventions.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief Coordinate conventions
 *
 ******************************************************************************/


#ifndef COORD_CONVENTIONS_H_
#define COORD_CONVENTIONS_H_

#ifdef __cplusplus
extern "C" 
{
#endif

#include <stdint.h>
#include "quaternions.h"

#define EARTH_RADIUS 6378137.0f                 


typedef struct 
{
    double longitude;           
    double latitude;            
    float altitude;             
    float heading;              
    uint32_t timestamp_ms;      
} global_position_t;


typedef struct 
{
    float pos[3];               
    float heading;              
    global_position_t origin;   
    uint32_t timestamp_ms;      
} local_coordinates_t;


/*
 * \brief       Attitude with aeronautics convention
 * 
 * \details     Expressed with the NED frame: X front, Y right, Z down. 
 *              The rotations are done in the following order: 
 *              - first around the local yaw axis, 
 *              - then around new local pitch axis, 
 *              - and finally around the new roll axis
*/
typedef struct 
{
    float rpy[3];   
} aero_attitude_t;


global_position_t coord_conventions_local_to_global_position(local_coordinates_t input);


local_coordinates_t coord_conventions_global_to_local_position(global_position_t position, global_position_t origin);


aero_attitude_t coord_conventions_quat_to_aero(quat_t qe);


quat_t coord_conventions_quaternion_from_aero(aero_attitude_t aero);


float coord_conventions_get_yaw(quat_t qe);


#ifdef __cplusplus
}
#endif

#endif /* STABILISATION_H_ */