public void Add_Leg_List(LinkedList <WayPoints> list, double lat1, double lon1, double lat2, double lon2,
double alt, double heading, double curvesize, double rotdir, int gimblemode, double gimblepitch, int[,] actions,
bool video, double camera_increment, double overlap)
{
// See if we have to reverse the points
WayPoints wp = new WayPoints();
int list_count = list.Count;
if (list_count > 0)
{
double last_lat = list.Last.Value.lat;
double last_lon = list.Last.Value.lon;
double dist1 = GPS.GPS_Distance(last_lat, last_lon, lat1, lon1, Form1.Globals.gps_radius);
double dist2 = GPS.GPS_Distance(last_lat, last_lon, lat2, lon2, Form1.Globals.gps_radius);
if (dist2 < dist1)
{
double temp = lat1;
lat1 = lat2;
lat2 = temp;
temp = lon1;
lon1 = lon2;
lon2 = temp;
}
}
int[,] no_actions = new int[, ] {
{ -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }
};
if (video)
{
// If in Video mode only output start and end points
wp.Add_Waypoint_List(list, lat1, lon1, alt, heading, curvesize, rotdir, gimblemode, gimblepitch, no_actions);
wp.Add_Waypoint_List(list, lat2, lon2, alt, heading, curvesize, rotdir, gimblemode, gimblepitch, no_actions);
}
else
{
// Photo Mode - Break into seperate segments
// Output first WP
wp.Add_Waypoint_List(list, lat1, lon1, alt, heading, curvesize, rotdir, gimblemode, gimblepitch, actions);
camera_increment = camera_increment * (1 - overlap / 100.0);
double distance = GPS.GPS_Distance(lat1, lon1, lat2, lon2, Form1.Globals.gps_radius);
double bearing = GPS.GPS_Bearing(lat1, lon1, lat2, lon2);
double new_lat, new_lon, last_lat, last_lon;
int num_wp = (int)(distance / camera_increment);
if (num_wp != 0)
{
if (num_wp == 1)
{
new_lat = GPS.GPS_Lat_BearDist(lat1, lon1, bearing, distance / 2, Form1.Globals.gps_radius);
new_lon = GPS.GPS_Lon_BearDist(lat1, lon1, new_lat, bearing, distance / 2, Form1.Globals.gps_radius);
wp.Add_Waypoint_List(list, new_lat, new_lon, alt, heading, curvesize, rotdir, gimblemode, gimblepitch, actions);
}
else
{
double width = (num_wp - 1) * camera_increment;
double dist_diff = distance - width;
new_lat = GPS.GPS_Lat_BearDist(lat1, lon1, bearing, dist_diff / 2, Form1.Globals.gps_radius);
new_lon = GPS.GPS_Lon_BearDist(lat1, lon1, new_lat, bearing, dist_diff / 2, Form1.Globals.gps_radius);
wp.Add_Waypoint_List(list, new_lat, new_lon, alt, heading, curvesize, rotdir, gimblemode, gimblepitch, actions);
last_lat = new_lat;
last_lon = new_lon;
for (int i = 0; i < num_wp - 1; i++)
{
new_lat = GPS.GPS_Lat_BearDist(last_lat, last_lon, bearing, camera_increment, Form1.Globals.gps_radius);
new_lon = GPS.GPS_Lon_BearDist(last_lat, last_lon, new_lat, bearing, camera_increment, Form1.Globals.gps_radius);
wp.Add_Waypoint_List(list, new_lat, new_lon, alt, heading, curvesize, rotdir, gimblemode, gimblepitch, actions);
last_lat = new_lat;
last_lon = new_lon;
}
}
}
// Output last WP
wp.Add_Waypoint_List(list, lat2, lon2, alt, heading, curvesize, rotdir, gimblemode, gimblepitch, actions);
}
}
