public void Init(Telemetry tel)
{
// Do not move N computation below, N is used by LLAtoECEF method!
gpsLLA = tel.uavPosition;
gpsLLA.Press_Altitude = gpsLLA.Altitude - localGeoidHeight;
N = a / Math.Sqrt(1 - e2 * Math.Pow(Math.Sin(gpsLLA.Latitude), 2));
cosLat = Math.Cos(gpsLLA.Latitude);
sinLat = Math.Sin(gpsLLA.Latitude);
cosLon = Math.Cos(gpsLLA.Longitude);
sinLon = Math.Sin(gpsLLA.Longitude);
gpsECEF = LLAtoECEF(gpsLLA);
uavAngles = tel.uavAngles;
cosYaw = Math.Cos(uavAngles.Yaw);
sinYaw = Math.Sin(uavAngles.Yaw);
if (zeroUavPitchRoll)
{
cosPitch = cosRoll = 1;
sinPitch = sinRoll = 0;
}
else
{
cosPitch = Math.Cos(uavAngles.Pitch);
sinPitch = Math.Sin(uavAngles.Pitch);
cosRoll = Math.Cos(uavAngles.Roll);
sinRoll = Math.Sin(uavAngles.Roll);
}
R_ECEF_LNED = null;
R_LNED_ECEF = null;
R_LNED_BODY = null;
R_BODY_LNED = null;
}
public void Init(Telemetry telemetry)
{
this.nedFrame.Init(telemetry);
this.cameraNED = nedFrame.BODYtoLNED(camFrame.CamBODY);
this.georefInfo = null;
}
public Metadata()
{
uavTelemetry = new Telemetry();
camDelay = new CameraDelay();
AGL = 0;
}