Revision 649f2bd1dbc5702edbc4cbacf44d25ba3ccd8cc9 authored by Felix Ruess on 09 July 2013, 09:34:43 UTC, committed by Felix Ruess on 09 July 2013, 19:17:16 UTC
- krooz: don't use TIM2 for PWM - change to 6 ticks per usec to fit all frequencies - on the F1 we assume to run at 72MHz for HCLK and both timer clocks TIM1 -> APB2 = HCLK = 72MHz TIM2 -> 2 * APB1 = 2 * 36MHz = 72MHz - on the F4 we assume 2 * AHB clock: TIM1 -> 2 * APB2 = 168MHz TIM2 -> 2 * APB1 = 84MHz
1 parent 60a6d89
lla.tex
\section{LLA}
LLA coordinates (longitude, lattitude, attitude) are the more intuitive way to express a position on the earth's surface. The values ``longitude'' and ``lattitude'' are angles and therefore in degrees or radians and the ``attitude'' is in meters above the surface of the earth's approximated shape.
\begin{figure}[h!]
\centering
\includegraphics[width=10cm]{ECEF}
\caption{LLA coordinates}
\label{LLA coordinates1}
\end{figure}
LLA coordinates are defined using
\begin{equation}
p_{LLA} = \begin{pmatrix} \lat \\ \lon \\ h \end{pmatrix}
\end{equation}
available for the following simple types
\begin{itemize}
\item int32\_t - \texttt{LlaCoor\_i}
\item float - \texttt{LlaCoor\_f}
\item double - \texttt{LlaCoor\_d}
\end{itemize}
\subsection{Simple Operations}
\subsubsection*{Assigning}
It is either possible to assign every single value of LLA-coordinate
\begin{equation}
pos = \begin{pmatrix} \lat \\
\lon \\
h \end{pmatrix}
\end{equation}
\inHfile{LLA\_ASSIGN(pos, lat, lon, alt)}{pprz\_geodetic}
\noindent
or to copy one coordinate to another
\texttt{pos1 = pos2}\\
\inHfile{LLA\_COPY(pos1, pos2)}{pprz\_geodetic}
\subsection{Trasnformation from LLA}
\subsubsection*{to ECEF}
\input{transformations/lla2ecef}
\subsection{Transforming to LLA}
\subsubsection*{from ECEF}
\input{transformations/ecef2lla}
![swh spinner](/static/img/swh-spinner.gif)
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