\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}