谷歌火星
1，算法
static double pi = 3.1415926535897932384626;
static double a = 6378245.0;
static double ee = 0.00669342162296594323;
//坐标系转换
static double lonTrans(double x,double y);
static double latTrans(double x,double y);
static bool outOfChina(double lat,double lng);
static void wgs84ToGcj02(double wgs_lat, double wgs_lon,double &gcjLat,double &gcjLon);
static void gcj02ToWgs84(double gcjLat,double gcjLon,double &wgs_lat, double &wgs_lon);
double Vehicle::lonTrans(double x, double y)
{
double ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * sqrt(abs(x));
ret += (20.0 * sin(6.0 * x * pi) + 20.0 * sin(2.0 * x * pi)) * 2.0 / 3.0;
ret += (20.0 * sin(x * pi) + 40.0 * sin(x / 3.0 * pi)) * 2.0 / 3.0;
ret += (150.0 * sin(x / 12.0 * pi) + 300.0 * sin(x / 30.0 * pi)) * 2.0 / 3.0;
return ret;
}
double Vehicle::latTrans(double x, double y)
{
double ret =-100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y + 0.2 * sqrt(abs(x));
ret += (20.0 * sin(6.0 * x * pi) + 20.0 * sin(2.0 * x * pi)) * 2.0 / 3.0;
ret += (20.0 * sin(y * pi) + 40.0 * sin(y / 3.0 * pi)) * 2.0 / 3.0;
ret += (160.0 * sin(y / 12.0 * pi) + 320 * sin(y * pi / 30.0)) * 2.0 / 3.0;
return ret;
}
bool Vehicle::outOfChina(double lat,double lng)
{
if (lng < 72.004 || lng > 137.8347) {
return true;
} else if (lat < 0.8293 || lat > 55.8271) {
return true;
}
return false;
}
void Vehicle::wgs84ToGcj02(double wgs_lat, double wgs_lon,double &gcjLat,double &gcjLon)
{
if(!outOfChina(wgs_lat,wgs_lon))
{
double dLat = latTrans(wgs_lon - 105.0, wgs_lat - 35.0);
double dLon = lonTrans(wgs_lon - 105.0, wgs_lat - 35.0);
double radLat = wgs_lat / 180.0 * pi;
double magic = sin(radLat);
magic = 1 - ee * magic * magic;
double sqrtMagic = sqrt(magic);
dLat = (dLat * 180.0) / ((a * (1 - ee)) / (magic * sqrtMagic) * pi);
dLon = (dLon * 180.0) / (a / sqrtMagic * cos(radLat) * pi);
gcjLat = wgs_lat + dLat;
gcjLon = wgs_lon + dLon;
}else{
gcjLat=wgs_lat;
gcjLon = wgs_lon;
}
}
void Vehicle::gcj02ToWgs84(double gcjLat, double gcjLon, double &wgs_lat, double &wgs_lon)
{
if(!outOfChina(gcjLat,gcjLon))
{
double dLat = latTrans(gcjLon - 105.0, gcjLat - 35.0);
double dLon = lonTrans(gcjLon - 105.0, gcjLat - 35.0);
double radLat = gcjLat / 180.0 * pi;
double magic = sin(radLat);
magic = 1 - ee * magic * magic;
double sqrtMagic = sqrt(magic);
dLat = (dLat * 180.0) / ((a * (1 - ee)) / (magic * sqrtMagic) * pi);
dLon = (dLon * 180.0) / (a / sqrtMagic * cos(radLat) * pi);
double tempLat = gcjLat + dLat;
double tempLon = gcjLon + dLon;
wgs_lat = gcjLat*2-tempLat;
wgs_lon = gcjLon*2-tempLon;
}else{
wgs_lat = gcjLat;
wgs_lon = gcjLon;
}
}
2，四个 地方需要添加转换
（1），飞机位置
//设置飞机的 位置 wgs84->火星坐标系
void Vehicle::setLatitude(double latitude)
{
_coordinate.setLatitude(latitude);
//坐标转换
double gcjLat=0,gcjLon=0;
wgs84ToGcj02(_coordinate.latitude(),_coordinate.longitude(),gcjLat,gcjLon);
_coordinate.setLatitude(gcjLat);
emit coordinateChanged(_coordinate);
}
void Vehicle::setLongitude(double longitude){
_coordinate.setLongitude(longitude);
//坐标转换
double gcjLat=0,gcjLon=0;
wgs84ToGcj02(_coordinate.latitude(),_coordinate.longitude(),gcjLat,gcjLon);
_coordinate.setLongitude(gcjLon);
emit coordinateChanged(_coordinate);
}
（2），上传任务时
void MissionManager::_handleMissionItem(const mavlink_message_t& message)
{
mavlink_mission_item_t missionItem;
if (!_checkForexpectedAck(AckMissionItem)) {
return;
}
mavlink_msg_mission_item_decode(&message, &missionItem);
qCDebug(MissionManagerLog) << "_handleMissionItem sequenceNumber:" << missionItem.seq<<"->> "<<missionItem.x<<" "<<missionItem.y;
if (_itemIndicesToRead.contains(missionItem.seq)) {
_itemIndicesToRead.removeOne(missionItem.seq);
//wgs84->火星坐标系
double gcjLat=0,gcjLon=0;
Vehicle::wgs84ToGcj02(missionItem.x,missionItem.y,gcjLat,gcjLon);
qDebug()<<"wgs84->gcj"<<missionItem.x<<missionItem.y<<" "<<gcjLat<<gcjLon;
/********************************************/
MissionItem* item = new MissionItem(missionItem.seq,
(MAV_CMD)missionItem.command,
(MAV_FRAME)missionItem.frame,
missionItem.param1,
missionItem.param2,
missionItem.param3,
missionItem.param4,
gcjLat/*missionItem.x*/,
gcjLon/*missionItem.y*/,
missionItem.z,
missionItem.autocontinue,
missionItem.current,
this);
if (item->command() == MAV_CMD_DO_JUMP && !_vehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
// Home is in position 0
item->setParam1((int)item->param1() + 1);
}
_missionItems.APPend(item);
} else {
qCDebug(MissionManagerLog) << "_handleMissionItem mission item received item index which was not requested, disregrarding:" << missionItem.seq;
// We have to put the ack timeout back since it was removed above
_startAckTimeout(AckMissionItem);
return;
}
_retryCount = 0;
if (_itemIndicesToRead.count() == 0) {
_readtransactionComplete();
} else {
_requestNextMissionItem();
}
}
（3），下载任务时
void MissionManager::_handleMissionRequest(const mavlink_message_t& message)
{
mavlink_mission_request_t missionRequest;
if (!_checkForExpectedAck(AckMissionRequest)) {
return;
}
mavlink_msg_mission_request_decode(&message, &missionRequest);
qCDebug(MissionManagerLog) << "_handleMissionRequest sequenceNumber:" << missionRequest.seq;
if (!_itemIndicesToWrite.contains(missionRequest.seq)) {
if (missionRequest.seq > _missionItems.count()) {
_sendERROR(RequestRangeError, QString("Vehicle requested item outside range, count:request %1:%2. Send to Vehicle failed.").arg(_missionItems.count()).arg(missionRequest.seq));
_finishTransaction(false);
return;
} else {
qCDebug(MissionManagerLog) << "_handleMissionRequest sequence number requested which has already been sent, sending again:" << missionRequest.seq;
}
} else {
_itemIndicesToWrite.removeOne(missionRequest.seq);
}
mavlink_message_t messageOut;
mavlink_mission_item_t missionItem;
MissionItem* item = _missionItems[missionRequest.seq];
//火星 坐标 ->WGS84
double gcjLat= item->param5();
double gcjLon = item->param6();
double wgsLat=0;
double wgsLon=0;
Vehicle::gcj02ToWgs84(gcjLat,gcjLon,wgsLat,wgsLon);
qDebug()<<"gcj->wgs84"<<gcjLat<<gcjLon<<" "<<wgsLat<<wgsLon;
/***********************************/
missionItem.target_system = _vehicle->id();
missionItem.target_component = MAV_COMP_ID_MISSIONPLANNER;
missionItem.seq = missionRequest.seq;
missionItem.command = item->command();
missionItem.param1 = item->param1();
missionItem.param2 = item->param2();
missionItem.param3 = item->param3();
missionItem.param4 = item->param4();
missionItem.x = wgsLat;//item->param5();
missionItem.y = wgsLon;//item->param6();
missionItem.z = item->param7();
missionItem.frame = item->frame();
missionItem.current = missionRequest.seq == 0;
missionItem.autocontinue = item->autoContinue();
mavlink_msg_mission_item_encode_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
_dedicatedLink->mavlinkChannel(),
&messageOut,
&missionItem);
_vehicle->sendMessageOnLink(_dedicatedLink, messageOut);
_startAckTimeout(AckMissionRequest);
}
（4），飞行界面 home点
void Vehicle::_handleHomePosition(mavlink_message_t& message)
{
bool emitHomePositionChanged = false;
bool emitHomePositionAvailableChanged = false;
mavlink_home_position_t homePos;
mavlink_msg_home_position_decode(&message, &homePos);
//坐标转换
double gcjLat=0,gcjLon=0;
wgs84ToGcj02(homePos.latitude / 10000000.0, homePos.longitude / 10000000.0,gcjLat,gcjLon);
QGeoCoordinate newHomePosition (gcjLat, gcjLon, homePos.altitude / 1000.0);
/*********************************************************************************/
// QGeoCoordinate newHomePosition (homePos.latitude / 10000000.0,
// homePos.longitude / 10000000.0,
// homePos.altitude / 1000.0);
if (!_homePositionAvailable || newHomePosition != _homePosition) {
emitHomePositionChanged = true;
_homePosition = newHomePosition;
}
if (!_homePositionAvailable) {
emitHomePositionAvailableChanged = true;
_homePositionAvailable = true;
}
if (emitHomePositionChanged) {
qCDebug(VehicleLog) << "New home position" << newHomePosition;
qgcApp()->setLastKnownHomePosition(_homePosition);
emit homePositionChanged(_homePosition);
}
if (emitHomePositionAvailableChanged) {
emit homePositionAvailableChanged(true);
}
}
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