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cuav_util: consider elevation differences in distance calculation #61

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cuav_util: consider elevation differences in distance calculation #61

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19 changes: 18 additions & 1 deletion cuav/lib/cuav_util.py
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Original file line number Diff line number Diff line change
Expand Up @@ -188,7 +188,24 @@ def pixel_coordinates(xpos, ypos, latitude, longitude, height, pitch, roll, yaw,

bearing = math.degrees(math.atan2(xofs, yofs))
distance = math.sqrt(xofs**2 + yofs**2)
return gps_newpos(latitude, longitude, bearing, distance)
initial_pos = gps_newpos(latitude, longitude, bearing, distance)

from MAVProxy.modules.mavproxy_map import mp_elevation
EleModel = mp_elevation.ElevationModel()
ground_elevation = EleModel.GetElevation(latitude, longitude)

# Get the elevation of the estimated point
initial_elevation = EleModel.GetElevation(initial_pos[0], initial_pos[1])

# Recalculate the height difference and adjust the distance accordingly
height_diff = initial_elevation - ground_elevation
if height_diff < 0:
adjusted_distance = math.sqrt(distance**2 + height_diff**2)
else:
adjusted_distance = distance

# Recalculate the new position with the adjusted distance
return gps_newpos(latitude, longitude, bearing, adjusted_distance)

def gps_position_from_xy(x, y, pos, C=None, altitude=None, shape=None):
'''
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