ground/gcs/src/libs/utils/homelocationutil.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       homelocationutil.cpp
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  * @brief      Utilities to find the location of openpilot GCS files:
   7  *             - Plugins Share directory path
   8  *
   9  * @brief      Home location utility functions
  10  *
  11  * @see        The GNU Public License (GPL) Version 3
  12  *
  13  *****************************************************************************/
  14 /*
  15  * This program is free software; you can redistribute it and/or modify
  16  * it under the terms of the GNU General Public License as published by
  17  * the Free Software Foundation; either version 3 of the License, or
  18  * (at your option) any later version.
  19  *
  20  * This program is distributed in the hope that it will be useful, but
  21  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  22  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  23  * for more details.
  24  *
  25  * You should have received a copy of the GNU General Public License along
  26  * with this program; if not, write to the Free Software Foundation, Inc.,
  27  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  28  */
  29
  30 #include "homelocationutil.h"
  31
  32 #include <stdint.h>
  33 #include <QDateTime>
  34
  35 #include "worldmagmodel.h"
  36
  37 namespace Utils {
  38 HomeLocationUtil::HomeLocationUtil()
  39 {}
  40
  41 /**
  42  * @brief Get local magnetic field
  43  * @param[in] LLA The longitude-latitude-altitude coordinate to compute the magnetic field at
  44  * @param[out] Be The resulting magnetic field at that location and time in [mGau](?)
  45  * @returns 0 if successful, negative otherwise.
  46  */
  47 int HomeLocationUtil::getDetails(double LLA[3], double Be[3])
  48 {
  49     // *************
  50     // check input parms
  51
  52     double latitude  = LLA[0];
  53     double longitude = LLA[1];
  54     double altitude  = LLA[2];
  55
  56     if (latitude != latitude) {
  57         return -1; // prevent nan error
  58     }
  59     if (longitude != longitude) {
  60         return -2; // prevent nan error
  61     }
  62     if (altitude != altitude) {
  63         return -3; // prevent nan error
  64     }
  65     if (latitude < -90 || latitude > 90) {
  66         return -4; // range checking
  67     }
  68     if (longitude < -180 || longitude > 180) {
  69         return -5; // range checking
  70     }
  71     QDateTime dt = QDateTime::currentDateTime().toUTC();
  72
  73     // Fetch world magnetic model
  74     int result   = WorldMagModel().GetMagVector(LLA, dt.date().month(), dt.date().day(), dt.date().year(), Be);
  75     Q_ASSERT(result == 0);
  76
  77     return result;
  78 }
  79 }