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3D RoboticsPermalink Reply by Chris Anderson on July 3, 2008 at 1:07pm

For ArduPilot, we're using Jordi's algorithms and code, which is based on this method.

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Permalink Reply by Michael on April 15, 2009 at 10:51pm

Chris following the link ends up with the:

'This site has been disabled for violations of our Program Policies. If you feel this disabling was in error, please visit our contact page to let us know. Contact Us'

Is it available anywhere else?

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Permalink Reply by Sami Finnila on April 16, 2009 at 5:10am

Treat the coordinates as coordinates on a flat surface. Really easy..

Here's an example (from my NXT AutoPilot):
float tempHeading=0;
float dX=(gpsLon-gpsLon_old);
float dY=(gpsLat-gpsLat_old);
if(dX!=0)
{
tempHeading=radiansToDegrees(atan(dY/dX));
if(dX<0)
{
if(dY<=0)tempHeading+=180;
else if(tempHeading>270)tempHeading-=180;
}

}
else if(dY!=0)
{
if(dY<0)tempHeading=270;
else tempHeading=90;
}

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Permalink Reply by Dan on May 25, 2009 at 8:29pm

I know this is an ancient thread, but a great source for this is
http://williams.best.vwh.net/avform.htm

The PIC18 will definitely limit you to the flat-earth approximations.

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