Can any body help me to solve an issue...wheather APM2.8.1 firmware uses haversine formula or equirectangular approximation in case of waypoint distance calculation in navigation??
In the distance calculation function below
float get_distance(const struct Location *loc1, const struct Location *loc2)
the return statement is return sqrt(sq(dlat) + sq(dlong)) * .01113195;
can any one tell me what is the significance of 0.1113195 value??
in case of bearing calculation function
int32_t get_bearing_cd(const struct Location *loc1, const struct Location *loc2)
final bearing value is taken by calculating in following way
int32_t bearing = 9000 + atan2(-off_y, off_x) * 5729.57795;
can any body plz tell me the significance of the constant value 9000 and 5729.57795 ??