diff --git a/cmake/configs/nuttx_aerocore2_default.cmake b/cmake/configs/nuttx_aerocore2_default.cmake
index b5c10c9fbc710fd6c2bc0a1c088405ee3e348371..7948d848d2f79b9b7b9b2af9cc6aadac7e6ee707 100644
--- a/cmake/configs/nuttx_aerocore2_default.cmake
+++ b/cmake/configs/nuttx_aerocore2_default.cmake
@@ -112,8 +112,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/nuttx_aerofc-v1_default.cmake b/cmake/configs/nuttx_aerofc-v1_default.cmake
index aa50d777f3ec06cb682c6a19096de7fe03905e04..35280bcc285335592ae30c00211a3c0913002cc1 100644
--- a/cmake/configs/nuttx_aerofc-v1_default.cmake
+++ b/cmake/configs/nuttx_aerofc-v1_default.cmake
@@ -82,8 +82,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/mathlib
lib/mixer
lib/rc
diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake
index 58f779ccd8205744b59cf75526f618dd65372915..5319273beb9c0bc8aa9e1705c96ee8712d25a1f2 100644
--- a/cmake/configs/nuttx_auav-x21_default.cmake
+++ b/cmake/configs/nuttx_auav-x21_default.cmake
@@ -125,8 +125,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/nuttx_crazyflie_default.cmake b/cmake/configs/nuttx_crazyflie_default.cmake
index 7426b69f036d969fbae958bb437dfe86bb488b8f..34463b3ae6a7ffe6c2b09799836f40621d9f6568 100644
--- a/cmake/configs/nuttx_crazyflie_default.cmake
+++ b/cmake/configs/nuttx_crazyflie_default.cmake
@@ -83,8 +83,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/mathlib
lib/mixer
lib/rc
diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index bae0a4d4d37b79609f429c5d08c3690680aa7e66..79984445825d3b92e2a7a500f21fb30ae841af35 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -129,8 +129,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/nuttx_nxphlite-v3_default.cmake b/cmake/configs/nuttx_nxphlite-v3_default.cmake
index ef6193f3d0ee2d4d02808ba96d66222e7b782aeb..cb3e8ec69f128415b122c807a6016acfd45692bf 100644
--- a/cmake/configs/nuttx_nxphlite-v3_default.cmake
+++ b/cmake/configs/nuttx_nxphlite-v3_default.cmake
@@ -131,8 +131,6 @@ set(config_module_list
#
lib/controllib
lib/ecl
- lib/geo
- lib/geo_lookup
lib/conversion
lib/led
lib/mathlib
diff --git a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake b/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
index edc51b2d85aedaabf8cfc8acab1b97d8ea4fd4f7..0732983610a1206b6c1a8982cc9356bd32b0e191 100644
--- a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
+++ b/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
@@ -106,8 +106,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake b/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
index e7439dcccdc765f0f21dc09707c3f4e87a932241..9e8569cc5ddaef98dfc8aff53e1ec59bb690ac0c 100644
--- a/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
+++ b/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
@@ -38,7 +38,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
lib/mathlib
lib/mixer
lib/version
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 0acc0c5bc0fceae54fc29d44de2343ea27355d3f..369fc556828046205f347064a336923238961282 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -153,8 +153,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake
index 7691814ed9f9769212a8a95bdcdc86af9748113a..19a297944455a0fc20c4aff6c8a97f46a04d9c79 100644
--- a/cmake/configs/nuttx_px4fmu-v2_test.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake
@@ -125,8 +125,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index 116052d9c309f2afe70e80b113e836fea48ecb88..29f4ed00cd5a3a88a95edd7dc8c5e2702fabcf6c 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -142,8 +142,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index 33027f192bfd2a004c766a3017ed053a4d1ee969..84ecb505d21d57a4fcab4a336126e584b9c99755 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -129,8 +129,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
index 4938208bbc1fcc8e997c1876f02f6f69f2875e38..6101762f631ed2308c533dc7cc3349264f27b84a 100644
--- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
@@ -133,8 +133,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake
index 4a0df254d96ae0b3f2ae8dc422cfab8d0fabf106..2def3c25693b2b3912eff031ad27827d1918766f 100644
--- a/cmake/configs/nuttx_px4fmu-v5_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake
@@ -134,8 +134,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
index 3a2256e6f4b1f88ea99e8a39edbf329cf74e8970..5fb9d0957662b73682e668dc1aa3eb8ad5438fd2 100644
--- a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
+++ b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
@@ -112,8 +112,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/nuttx_tap-v1_default.cmake b/cmake/configs/nuttx_tap-v1_default.cmake
index 5a3f44d1db79f11a8520346dabc7125228b7698e..a9b17bacab394fbedfd0e638805e0486b1d25ad1 100644
--- a/cmake/configs/nuttx_tap-v1_default.cmake
+++ b/cmake/configs/nuttx_tap-v1_default.cmake
@@ -89,8 +89,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/posix_bebop_default.cmake b/cmake/configs/posix_bebop_default.cmake
index 07601f2c99276435964d9dd37df4d523723d8ac5..59fbb0d2bde8894ee57d776557b4da08fb0cd589 100644
--- a/cmake/configs/posix_bebop_default.cmake
+++ b/cmake/configs/posix_bebop_default.cmake
@@ -76,8 +76,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/mathlib
lib/mixer
lib/terrain_estimation
diff --git a/cmake/configs/posix_eagle_hil.cmake b/cmake/configs/posix_eagle_hil.cmake
index bb26284e3691e027d45488ab37871d7185c45773..835e2509d559c5403ffa97d45d097b11cecafa98 100644
--- a/cmake/configs/posix_eagle_hil.cmake
+++ b/cmake/configs/posix_eagle_hil.cmake
@@ -41,8 +41,6 @@ set(config_module_list
lib/controllib
lib/mathlib
lib/ecl
- lib/geo
- lib/geo_lookup
lib/conversion
lib/version
lib/DriverFramework/framework
diff --git a/cmake/configs/posix_ocpoc_cross.cmake b/cmake/configs/posix_ocpoc_cross.cmake
index fb7d0b3a9908730b74b805ddb1d7e54ce0dd5ac1..67d9b0840bba9cafc8506d1e25329159cce42aab 100644
--- a/cmake/configs/posix_ocpoc_cross.cmake
+++ b/cmake/configs/posix_ocpoc_cross.cmake
@@ -84,8 +84,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/posix_ocpoc_ubuntu.cmake b/cmake/configs/posix_ocpoc_ubuntu.cmake
index 8a8f3870ddf49d9928f3009ef4903200498511ba..bde798a136e54cd6a185a6fa197db1cfbfb64dce 100644
--- a/cmake/configs/posix_ocpoc_ubuntu.cmake
+++ b/cmake/configs/posix_ocpoc_ubuntu.cmake
@@ -83,8 +83,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/posix_rpi_common.cmake b/cmake/configs/posix_rpi_common.cmake
index dff2fb5f4a4b6277f4f07597460a77f066121d91..658e0d896f5328bbb82a3f0762ecc0500e3af9e9 100644
--- a/cmake/configs/posix_rpi_common.cmake
+++ b/cmake/configs/posix_rpi_common.cmake
@@ -99,8 +99,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/posix_sdflight_default.cmake b/cmake/configs/posix_sdflight_default.cmake
index dcb0a3beda5d00b135160e17d82e397afc661e79..516eff769c38c1dbc162c77c714e11e74b92a261 100644
--- a/cmake/configs/posix_sdflight_default.cmake
+++ b/cmake/configs/posix_sdflight_default.cmake
@@ -73,8 +73,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/posix_sdflight_legacy.cmake b/cmake/configs/posix_sdflight_legacy.cmake
index 01aaa77fdb87c103cbe39ec4ccf51323d4648759..428136c26a3cb19c39f641469585bfdf829ce950 100644
--- a/cmake/configs/posix_sdflight_legacy.cmake
+++ b/cmake/configs/posix_sdflight_legacy.cmake
@@ -65,8 +65,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index 4a4842b28037c5b6651dfb62e9928090952ec48a..6dc5f271747540174d9e5d90d3fef88d1d8335fd 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -123,8 +123,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mixer
lib/mathlib
diff --git a/cmake/configs/posix_sitl_replay.cmake b/cmake/configs/posix_sitl_replay.cmake
index 388451d61d4996e336dcae91e3e0ba436e7e1932..58130ad4a0d6df52729782d6927d244a096f0e0e 100644
--- a/cmake/configs/posix_sitl_replay.cmake
+++ b/cmake/configs/posix_sitl_replay.cmake
@@ -18,8 +18,6 @@ set(config_module_list
lib/mathlib
lib/conversion
lib/ecl
- lib/geo
- lib/geo_lookup
lib/version
lib/DriverFramework/framework
lib/micro-CDR
diff --git a/cmake/configs/qurt_eagle_hil.cmake b/cmake/configs/qurt_eagle_hil.cmake
index a43ed38ceee1276217dc7d4627d149cd59ccea2a..3c35798d366e13c1817f20b46e28d142963ac208 100644
--- a/cmake/configs/qurt_eagle_hil.cmake
+++ b/cmake/configs/qurt_eagle_hil.cmake
@@ -63,8 +63,6 @@ set(config_module_list
lib/controllib
lib/conversion
lib/DriverFramework/framework
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/qurt_eagle_muorb.cmake b/cmake/configs/qurt_eagle_muorb.cmake
index 9ec8bd9e4dade7960e45e1f418900f9499bebb61..3e1c179d15cac99496316d150ca7c08e0e03dd72 100644
--- a/cmake/configs/qurt_eagle_muorb.cmake
+++ b/cmake/configs/qurt_eagle_muorb.cmake
@@ -38,8 +38,6 @@ set(config_module_list
# Libraries
#
lib/mathlib
- lib/geo
- lib/geo_lookup
lib/conversion
lib/version
lib/DriverFramework/framework
diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake
index 5fb5bdc81de16361b73a5ad2cd53caafa0d46466..b690d823864572fa903e623098a238aab2a05604 100644
--- a/cmake/configs/qurt_eagle_travis.cmake
+++ b/cmake/configs/qurt_eagle_travis.cmake
@@ -69,8 +69,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/led
lib/mathlib
lib/mixer
diff --git a/cmake/configs/qurt_sdflight_default.cmake b/cmake/configs/qurt_sdflight_default.cmake
index c7586f8fcb960baef3debf9666a50775425f0cde..673785129a6a46284ffa5fe4eb3041ad35f19c28 100644
--- a/cmake/configs/qurt_sdflight_default.cmake
+++ b/cmake/configs/qurt_sdflight_default.cmake
@@ -87,8 +87,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/mathlib
lib/mixer
lib/rc
diff --git a/cmake/configs/qurt_sdflight_legacy.cmake b/cmake/configs/qurt_sdflight_legacy.cmake
index 9de21a4c7e6184b93df91753bd74d6ad73a52ab9..cc6fa2b3e10c6c127e3c0eee620eafe6b43536c9 100644
--- a/cmake/configs/qurt_sdflight_legacy.cmake
+++ b/cmake/configs/qurt_sdflight_legacy.cmake
@@ -86,8 +86,6 @@ set(config_module_list
lib/conversion
lib/DriverFramework/framework
lib/ecl
- lib/geo
- lib/geo_lookup
lib/mathlib
lib/mixer
lib/rc
diff --git a/src/drivers/telemetry/frsky_telemetry/frsky_data.c b/src/drivers/telemetry/frsky_telemetry/frsky_data.c
index dd2b83ef9838a6d8411ac77b3285fc44b759ad64..7d8c16bab7d2771ab001ec9499c29c0ec2d8f5d3 100644
--- a/src/drivers/telemetry/frsky_telemetry/frsky_data.c
+++ b/src/drivers/telemetry/frsky_telemetry/frsky_data.c
@@ -48,7 +48,7 @@
#include <string.h>
#include <stdbool.h>
#include <arch/math.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <stdbool.h>
#include <uORB/topics/battery_status.h>
diff --git a/src/drivers/telemetry/frsky_telemetry/sPort_data.c b/src/drivers/telemetry/frsky_telemetry/sPort_data.c
index 5c737be1940ee2f7c2a46ad6d2ad818ee650430d..c68320e0d443bc832ac2b1e19078cfd2f4e5f2f9 100644
--- a/src/drivers/telemetry/frsky_telemetry/sPort_data.c
+++ b/src/drivers/telemetry/frsky_telemetry/sPort_data.c
@@ -48,7 +48,7 @@
#include <stdio.h>
#include <string.h>
#include <arch/math.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/sensor_combined.h>
diff --git a/src/drivers/telemetry/hott/messages.cpp b/src/drivers/telemetry/hott/messages.cpp
index 92b1664ccf6e8b4b9f2c56f05e9bc3bfebd68c49..86b14c54edae226b1695f7123d6a3a06003d5961 100644
--- a/src/drivers/telemetry/hott/messages.cpp
+++ b/src/drivers/telemetry/hott/messages.cpp
@@ -42,7 +42,7 @@
#include <math.h>
#include <stdio.h>
#include <string.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <unistd.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
diff --git a/src/drivers/vmount/output.cpp b/src/drivers/vmount/output.cpp
index 020470d093c432e03ab585a92d2af920690f10fe..f3a1269b98d93e6ec077d4be7a57bacdf7ed0572 100644
--- a/src/drivers/vmount/output.cpp
+++ b/src/drivers/vmount/output.cpp
@@ -46,7 +46,7 @@
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/mount_orientation.h>
#include <px4_defines.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <math.h>
#include <mathlib/mathlib.h>
diff --git a/src/drivers/vmount/output.h b/src/drivers/vmount/output.h
index 7589af45a3ccf9279716ee3a3a4b6c79b97de727..b54b58a63d25803e85add02da4b59672ca6106f4 100644
--- a/src/drivers/vmount/output.h
+++ b/src/drivers/vmount/output.h
@@ -41,7 +41,7 @@
#include "common.h"
#include <drivers/drv_hrt.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
diff --git a/src/examples/bottle_drop/bottle_drop.cpp b/src/examples/bottle_drop/bottle_drop.cpp
index fb9256dbf7bb5c6a4486d6209d6165960cf8bac7..7ad7e0e3380c26d9ee0aca76f5cc2d3804718a86 100644
--- a/src/examples/bottle_drop/bottle_drop.cpp
+++ b/src/examples/bottle_drop/bottle_drop.cpp
@@ -64,7 +64,7 @@
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/mavlink_log.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <dataman/dataman.h>
#include <mathlib/mathlib.h>
diff --git a/src/examples/fixedwing_control/main.cpp b/src/examples/fixedwing_control/main.cpp
index a5854638ca021d3ee7db16537d53931251e4e7aa..cc7cca3cd8292467c7244ebf13b7778edbf8de5d 100644
--- a/src/examples/fixedwing_control/main.cpp
+++ b/src/examples/fixedwing_control/main.cpp
@@ -47,7 +47,7 @@
#include <poll.h>
#include <drivers/drv_hrt.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <matrix/math.hpp>
#include <px4_config.h>
#include <px4_tasks.h>
diff --git a/src/examples/rover_steering_control/main.cpp b/src/examples/rover_steering_control/main.cpp
index 51e7bb0dfb9aae2e019bd864ecbecd443d9d3a02..99da58a6073cea071a0ec714df5e88b68520d7c6 100644
--- a/src/examples/rover_steering_control/main.cpp
+++ b/src/examples/rover_steering_control/main.cpp
@@ -63,7 +63,7 @@
#include <uORB/topics/parameter_update.h>
#include <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <matrix/math.hpp>
diff --git a/src/examples/segway/blocks.cpp b/src/examples/segway/blocks.cpp
index a2611649b5b9440d0c9b85455ee0b2cfef1c0261..4874ba3471f38d09e8d2eca354367b2990c65068 100644
--- a/src/examples/segway/blocks.cpp
+++ b/src/examples/segway/blocks.cpp
@@ -38,7 +38,7 @@
*/
#include "blocks.hpp"
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
namespace control
{
diff --git a/src/examples/uuv_example_app/uuv_example_app.cpp b/src/examples/uuv_example_app/uuv_example_app.cpp
index 0d5a5f088f2e2c0df2b23c17ac939275956171e4..e77a7d1a7853c12aea32744531dbe599e2a9f358 100644
--- a/src/examples/uuv_example_app/uuv_example_app.cpp
+++ b/src/examples/uuv_example_app/uuv_example_app.cpp
@@ -58,7 +58,7 @@
#include <systemlib/circuit_breaker.h>
// internal libraries
#include <lib/mathlib/mathlib.h>
-#include <lib/geo/geo.h>
+#include <lib/ecl/geo/geo.h>
// Include uORB and the required topics for this app
#include <uORB/uORB.h>
diff --git a/src/lib/ecl b/src/lib/ecl
index 95c4777b355bf05b59b69cb97ae131a03cfec564..8caf52fb413aa148dbfe38b525dd293a42276e45 160000
--- a/src/lib/ecl
+++ b/src/lib/ecl
@@ -1 +1 @@
-Subproject commit 95c4777b355bf05b59b69cb97ae131a03cfec564
+Subproject commit 8caf52fb413aa148dbfe38b525dd293a42276e45
diff --git a/src/lib/geo/CMakeLists.txt b/src/lib/geo/CMakeLists.txt
deleted file mode 100644
index 14b80ef2a565e217332dcd1a6664ad51dd5165fa..0000000000000000000000000000000000000000
--- a/src/lib/geo/CMakeLists.txt
+++ /dev/null
@@ -1,40 +0,0 @@
-############################################################################
-#
-# Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-# notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-# notice, this list of conditions and the following disclaimer in
-# the documentation and/or other materials provided with the
-# distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-# used to endorse or promote products derived from this software
-# without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-px4_add_module(
- MODULE lib__geo
- SRCS
- geo.c
- DEPENDS
- platforms__common
- )
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
deleted file mode 100644
index 37a595bb7e446bb362b5e74d9d45d47ea316f05e..0000000000000000000000000000000000000000
--- a/src/lib/geo/geo.c
+++ /dev/null
@@ -1,705 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- * used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file geo.c
- *
- * Geo / math functions to perform geodesic calculations
- *
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Anton Babushkin <anton.babushkin@me.com>
- */
-
-#include <geo/geo.h>
-#include <px4_config.h>
-#include <unistd.h>
-#include <pthread.h>
-#include <stdio.h>
-#include <math.h>
-#include <stdbool.h>
-#include <string.h>
-#include <float.h>
-
-#include <systemlib/err.h>
-#include <drivers/drv_hrt.h>
-
-/*
- * Azimuthal Equidistant Projection
- * formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html
- */
-
-static struct map_projection_reference_s mp_ref = {0.0, 0.0, 0.0, 0.0, false, 0};
-static struct globallocal_converter_reference_s gl_ref = {0.0f, false};
-
-__EXPORT bool map_projection_global_initialized()
-{
- return map_projection_initialized(&mp_ref);
-}
-
-__EXPORT bool map_projection_initialized(const struct map_projection_reference_s *ref)
-{
- return ref->init_done;
-}
-
-__EXPORT uint64_t map_projection_global_timestamp()
-{
- return map_projection_timestamp(&mp_ref);
-}
-
-__EXPORT uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref)
-{
- return ref->timestamp;
-}
-
-__EXPORT int map_projection_global_init(double lat_0, double lon_0,
- uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
-{
- return map_projection_init_timestamped(&mp_ref, lat_0, lon_0, timestamp);
-}
-
-__EXPORT int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0,
- uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
-{
-
- ref->lat_rad = lat_0 * M_DEG_TO_RAD;
- ref->lon_rad = lon_0 * M_DEG_TO_RAD;
- ref->sin_lat = sin(ref->lat_rad);
- ref->cos_lat = cos(ref->lat_rad);
-
- ref->timestamp = timestamp;
- ref->init_done = true;
-
- return 0;
-}
-
-__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0,
- double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
-{
- return map_projection_init_timestamped(ref, lat_0, lon_0, hrt_absolute_time());
-}
-
-__EXPORT int map_projection_global_reference(double *ref_lat_rad, double *ref_lon_rad)
-{
- return map_projection_reference(&mp_ref, ref_lat_rad, ref_lon_rad);
-}
-
-__EXPORT int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad,
- double *ref_lon_rad)
-{
- if (!map_projection_initialized(ref)) {
- return -1;
- }
-
- *ref_lat_rad = ref->lat_rad;
- *ref_lon_rad = ref->lon_rad;
-
- return 0;
-}
-
-__EXPORT int map_projection_global_project(double lat, double lon, float *x, float *y)
-{
- return map_projection_project(&mp_ref, lat, lon, x, y);
-
-}
-
-__EXPORT int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x,
- float *y)
-{
- if (!map_projection_initialized(ref)) {
- return -1;
- }
-
- double lat_rad = lat * M_DEG_TO_RAD;
- double lon_rad = lon * M_DEG_TO_RAD;
-
- double sin_lat = sin(lat_rad);
- double cos_lat = cos(lat_rad);
- double cos_d_lon = cos(lon_rad - ref->lon_rad);
-
- double arg = ref->sin_lat * sin_lat + ref->cos_lat * cos_lat * cos_d_lon;
-
- if (arg > 1.0) {
- arg = 1.0;
-
- } else if (arg < -1.0) {
- arg = -1.0;
- }
-
- double c = acos(arg);
- double k = (fabs(c) < DBL_EPSILON) ? 1.0 : (c / sin(c));
-
- *x = k * (ref->cos_lat * sin_lat - ref->sin_lat * cos_lat * cos_d_lon) * CONSTANTS_RADIUS_OF_EARTH;
- *y = k * cos_lat * sin(lon_rad - ref->lon_rad) * CONSTANTS_RADIUS_OF_EARTH;
-
- return 0;
-}
-
-__EXPORT int map_projection_global_reproject(float x, float y, double *lat, double *lon)
-{
- return map_projection_reproject(&mp_ref, x, y, lat, lon);
-}
-
-__EXPORT int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat,
- double *lon)
-{
- if (!map_projection_initialized(ref)) {
- return -1;
- }
-
- double x_rad = (double)x / CONSTANTS_RADIUS_OF_EARTH;
- double y_rad = (double)y / CONSTANTS_RADIUS_OF_EARTH;
- double c = sqrtf(x_rad * x_rad + y_rad * y_rad);
- double sin_c = sin(c);
- double cos_c = cos(c);
-
- double lat_rad;
- double lon_rad;
-
- if (fabs(c) > DBL_EPSILON) {
- lat_rad = asin(cos_c * ref->sin_lat + (x_rad * sin_c * ref->cos_lat) / c);
- lon_rad = (ref->lon_rad + atan2(y_rad * sin_c, c * ref->cos_lat * cos_c - x_rad * ref->sin_lat * sin_c));
-
- } else {
- lat_rad = ref->lat_rad;
- lon_rad = ref->lon_rad;
- }
-
- *lat = lat_rad * 180.0 / M_PI;
- *lon = lon_rad * 180.0 / M_PI;
-
- return 0;
-}
-
-__EXPORT int map_projection_global_getref(double *lat_0, double *lon_0)
-{
- if (!map_projection_global_initialized()) {
- return -1;
- }
-
- if (lat_0 != NULL) {
- *lat_0 = M_RAD_TO_DEG * mp_ref.lat_rad;
- }
-
- if (lon_0 != NULL) {
- *lon_0 = M_RAD_TO_DEG * mp_ref.lon_rad;
- }
-
- return 0;
-
-}
-__EXPORT int globallocalconverter_init(double lat_0, double lon_0, float alt_0, uint64_t timestamp)
-{
- gl_ref.alt = alt_0;
-
- if (!map_projection_global_init(lat_0, lon_0, timestamp)) {
- gl_ref.init_done = true;
- return 0;
-
- } else {
- gl_ref.init_done = false;
- return -1;
- }
-}
-
-__EXPORT bool globallocalconverter_initialized()
-{
- return gl_ref.init_done && map_projection_global_initialized();
-}
-
-__EXPORT int globallocalconverter_tolocal(double lat, double lon, float alt, float *x, float *y, float *z)
-{
- if (!map_projection_global_initialized()) {
- return -1;
- }
-
- map_projection_global_project(lat, lon, x, y);
- *z = gl_ref.alt - alt;
-
- return 0;
-}
-
-__EXPORT int globallocalconverter_toglobal(float x, float y, float z, double *lat, double *lon, float *alt)
-{
- if (!map_projection_global_initialized()) {
- return -1;
- }
-
- map_projection_global_reproject(x, y, lat, lon);
- *alt = gl_ref.alt - z;
-
- return 0;
-}
-
-__EXPORT int globallocalconverter_getref(double *lat_0, double *lon_0, float *alt_0)
-{
- if (!map_projection_global_initialized()) {
- return -1;
- }
-
- if (map_projection_global_getref(lat_0, lon_0)) {
- return -1;
- }
-
- if (alt_0 != NULL) {
- *alt_0 = gl_ref.alt;
- }
-
- return 0;
-}
-
-__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
-{
- double lat_now_rad = lat_now / (double)180.0 * M_PI;
- double lon_now_rad = lon_now / (double)180.0 * M_PI;
- double lat_next_rad = lat_next / (double)180.0 * M_PI;
- double lon_next_rad = lon_next / (double)180.0 * M_PI;
-
-
- double d_lat = lat_next_rad - lat_now_rad;
- double d_lon = lon_next_rad - lon_now_rad;
-
- double a = sin(d_lat / (double)2.0) * sin(d_lat / (double)2.0) + sin(d_lon / (double)2.0) * sin(d_lon /
- (double)2.0) * cos(lat_now_rad) * cos(lat_next_rad);
- double c = (double)2.0 * atan2(sqrt(a), sqrt((double)1.0 - a));
-
- return CONSTANTS_RADIUS_OF_EARTH * c;
-}
-
-__EXPORT void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B, double lon_B, float dist,
- double *lat_target, double *lon_target)
-{
- if (fabsf(dist) < FLT_EPSILON) {
- *lat_target = lat_A;
- *lon_target = lon_A;
-
- } else if (dist >= FLT_EPSILON) {
- float heading = get_bearing_to_next_waypoint(lat_A, lon_A, lat_B, lon_B);
- waypoint_from_heading_and_distance(lat_A, lon_A, heading, dist, lat_target, lon_target);
-
- } else {
- float heading = get_bearing_to_next_waypoint(lat_A, lon_A, lat_B, lon_B);
- heading = _wrap_2pi(heading + M_PI_F);
- waypoint_from_heading_and_distance(lat_A, lon_A, heading, dist, lat_target, lon_target);
- }
-}
-
-__EXPORT void waypoint_from_heading_and_distance(double lat_start, double lon_start, float bearing, float dist,
- double *lat_target, double *lon_target)
-{
- bearing = _wrap_2pi(bearing);
- double radius_ratio = fabs((double)dist) / CONSTANTS_RADIUS_OF_EARTH;
-
- double lat_start_rad = lat_start * M_DEG_TO_RAD;
- double lon_start_rad = lon_start * M_DEG_TO_RAD;
-
- *lat_target = asin(sin(lat_start_rad) * cos(radius_ratio) + cos(lat_start_rad) * sin(radius_ratio) * cos((
- double)bearing));
- *lon_target = lon_start_rad + atan2(sin((double)bearing) * sin(radius_ratio) * cos(lat_start_rad),
- cos(radius_ratio) - sin(lat_start_rad) * sin(*lat_target));
-
- *lat_target *= M_RAD_TO_DEG;
- *lon_target *= M_RAD_TO_DEG;
-}
-__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
-{
- double lat_now_rad = lat_now * M_DEG_TO_RAD;
- double lon_now_rad = lon_now * M_DEG_TO_RAD;
- double lat_next_rad = lat_next * M_DEG_TO_RAD;
- double lon_next_rad = lon_next * M_DEG_TO_RAD;
-
- double d_lon = lon_next_rad - lon_now_rad;
-
- /* conscious mix of double and float trig function to maximize speed and efficiency */
- float theta = atan2f(sin(d_lon) * cos(lat_next_rad),
- cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon));
-
- theta = _wrap_pi(theta);
-
- return theta;
-}
-
-__EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n,
- float *v_e)
-{
- double lat_now_rad = lat_now * M_DEG_TO_RAD;
- double lon_now_rad = lon_now * M_DEG_TO_RAD;
- double lat_next_rad = lat_next * M_DEG_TO_RAD;
- double lon_next_rad = lon_next * M_DEG_TO_RAD;
-
- double d_lon = lon_next_rad - lon_now_rad;
-
- /* conscious mix of double and float trig function to maximize speed and efficiency */
- *v_n = CONSTANTS_RADIUS_OF_EARTH * (cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(
- d_lon));
- *v_e = CONSTANTS_RADIUS_OF_EARTH * sin(d_lon) * cos(lat_next_rad);
-}
-
-__EXPORT void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next,
- float *v_n, float *v_e)
-{
- double lat_now_rad = lat_now * M_DEG_TO_RAD;
- double lon_now_rad = lon_now * M_DEG_TO_RAD;
- double lat_next_rad = lat_next * M_DEG_TO_RAD;
- double lon_next_rad = lon_next * M_DEG_TO_RAD;
-
- double d_lat = lat_next_rad - lat_now_rad;
- double d_lon = lon_next_rad - lon_now_rad;
-
- /* conscious mix of double and float trig function to maximize speed and efficiency */
- *v_n = CONSTANTS_RADIUS_OF_EARTH * d_lat;
- *v_e = CONSTANTS_RADIUS_OF_EARTH * d_lon * cos(lat_now_rad);
-}
-
-__EXPORT void add_vector_to_global_position(double lat_now, double lon_now, float v_n, float v_e, double *lat_res,
- double *lon_res)
-{
- double lat_now_rad = lat_now * M_DEG_TO_RAD;
- double lon_now_rad = lon_now * M_DEG_TO_RAD;
-
- *lat_res = (lat_now_rad + (double)v_n / CONSTANTS_RADIUS_OF_EARTH) * M_RAD_TO_DEG;
- *lon_res = (lon_now_rad + (double)v_e / (CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad))) * M_RAD_TO_DEG;
-}
-
-// Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
-
-__EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now,
- double lat_start, double lon_start, double lat_end, double lon_end)
-{
-// This function returns the distance to the nearest point on the track line. Distance is positive if current
-// position is right of the track and negative if left of the track as seen from a point on the track line
-// headed towards the end point.
-
- float dist_to_end;
- float bearing_end;
- float bearing_track;
- float bearing_diff;
-
- int return_value = ERROR; // Set error flag, cleared when valid result calculated.
- crosstrack_error->past_end = false;
- crosstrack_error->distance = 0.0f;
- crosstrack_error->bearing = 0.0f;
-
- dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
-
- // Return error if arguments are bad
- if (dist_to_end < 0.1f) {
- return ERROR;
- }
-
- bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
- bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
- bearing_diff = bearing_track - bearing_end;
- bearing_diff = _wrap_pi(bearing_diff);
-
- // Return past_end = true if past end point of line
- if (bearing_diff > M_PI_2_F || bearing_diff < -M_PI_2_F) {
- crosstrack_error->past_end = true;
- return_value = OK;
- return return_value;
- }
-
- crosstrack_error->distance = (dist_to_end) * sinf(bearing_diff);
-
- if (sinf(bearing_diff) >= 0) {
- crosstrack_error->bearing = _wrap_pi(bearing_track - M_PI_2_F);
-
- } else {
- crosstrack_error->bearing = _wrap_pi(bearing_track + M_PI_2_F);
- }
-
- return_value = OK;
-
- return return_value;
-
-}
-
-
-__EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now,
- double lat_center, double lon_center,
- float radius, float arc_start_bearing, float arc_sweep)
-{
- // This function returns the distance to the nearest point on the track arc. Distance is positive if current
- // position is right of the arc and negative if left of the arc as seen from the closest point on the arc and
- // headed towards the end point.
-
- // Determine if the current position is inside or outside the sector between the line from the center
- // to the arc start and the line from the center to the arc end
- float bearing_sector_start;
- float bearing_sector_end;
- float bearing_now = get_bearing_to_next_waypoint(lat_now, lon_now, lat_center, lon_center);
- bool in_sector;
-
- int return_value = ERROR; // Set error flag, cleared when valid result calculated.
- crosstrack_error->past_end = false;
- crosstrack_error->distance = 0.0f;
- crosstrack_error->bearing = 0.0f;
-
- // Return error if arguments are bad
- if (radius < 0.1f) { return return_value; }
-
-
- if (arc_sweep >= 0.0f) {
- bearing_sector_start = arc_start_bearing;
- bearing_sector_end = arc_start_bearing + arc_sweep;
-
- if (bearing_sector_end > 2.0f * M_PI_F) { bearing_sector_end -= M_TWOPI_F; }
-
- } else {
- bearing_sector_end = arc_start_bearing;
- bearing_sector_start = arc_start_bearing - arc_sweep;
-
- if (bearing_sector_start < 0.0f) { bearing_sector_start += M_TWOPI_F; }
- }
-
- in_sector = false;
-
- // Case where sector does not span zero
- if (bearing_sector_end >= bearing_sector_start && bearing_now >= bearing_sector_start
- && bearing_now <= bearing_sector_end) { in_sector = true; }
-
- // Case where sector does span zero
- if (bearing_sector_end < bearing_sector_start && (bearing_now > bearing_sector_start
- || bearing_now < bearing_sector_end)) { in_sector = true; }
-
- // If in the sector then calculate distance and bearing to closest point
- if (in_sector) {
- crosstrack_error->past_end = false;
- float dist_to_center = get_distance_to_next_waypoint(lat_now, lon_now, lat_center, lon_center);
-
- if (dist_to_center <= radius) {
- crosstrack_error->distance = radius - dist_to_center;
- crosstrack_error->bearing = bearing_now + M_PI_F;
-
- } else {
- crosstrack_error->distance = dist_to_center - radius;
- crosstrack_error->bearing = bearing_now;
- }
-
- // If out of the sector then calculate dist and bearing to start or end point
-
- } else {
-
- // Use the approximation that 111,111 meters in the y direction is 1 degree (of latitude)
- // and 111,111 * cos(latitude) meters in the x direction is 1 degree (of longitude) to
- // calculate the position of the start and end points. We should not be doing this often
- // as this function generally will not be called repeatedly when we are out of the sector.
-
- double start_disp_x = (double)radius * sin((double)arc_start_bearing);
- double start_disp_y = (double)radius * cos((double)arc_start_bearing);
- double end_disp_x = (double)radius * sin((double)_wrap_pi((double)(arc_start_bearing + arc_sweep)));
- double end_disp_y = (double)radius * cos((double)_wrap_pi((double)(arc_start_bearing + arc_sweep)));
- double lon_start = lon_now + start_disp_x / 111111.0;
- double lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0;
- double lon_end = lon_now + end_disp_x / 111111.0;
- double lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0;
- double dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
- double dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
-
-
- if (dist_to_start < dist_to_end) {
- crosstrack_error->distance = dist_to_start;
- crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
-
- } else {
- crosstrack_error->past_end = true;
- crosstrack_error->distance = dist_to_end;
- crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
- }
-
- }
-
- crosstrack_error->bearing = _wrap_pi((double)crosstrack_error->bearing);
- return_value = OK;
- return return_value;
-}
-
-__EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now, float alt_now,
- double lat_next, double lon_next, float alt_next,
- float *dist_xy, float *dist_z)
-{
- double current_x_rad = lat_next / 180.0 * M_PI;
- double current_y_rad = lon_next / 180.0 * M_PI;
- double x_rad = lat_now / 180.0 * M_PI;
- double y_rad = lon_now / 180.0 * M_PI;
-
- double d_lat = x_rad - current_x_rad;
- double d_lon = y_rad - current_y_rad;
-
- double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(current_x_rad) * cos(x_rad);
- double c = 2 * atan2(sqrt(a), sqrt(1 - a));
-
- float dxy = CONSTANTS_RADIUS_OF_EARTH * c;
- float dz = alt_now - alt_next;
-
- *dist_xy = fabsf(dxy);
- *dist_z = fabsf(dz);
-
- return sqrtf(dxy * dxy + dz * dz);
-}
-
-
-__EXPORT float mavlink_wpm_distance_to_point_local(float x_now, float y_now, float z_now,
- float x_next, float y_next, float z_next,
- float *dist_xy, float *dist_z)
-{
- float dx = x_now - x_next;
- float dy = y_now - y_next;
- float dz = z_now - z_next;
-
- *dist_xy = sqrtf(dx * dx + dy * dy);
- *dist_z = fabsf(dz);
-
- return sqrtf(dx * dx + dy * dy + dz * dz);
-}
-
-__EXPORT float _wrap_pi(float bearing)
-{
- /* value is inf or NaN */
- if (!isfinite(bearing)) {
- return bearing;
- }
-
- int c = 0;
-
- while (bearing >= M_PI_F) {
- bearing -= M_TWOPI_F;
-
- if (c++ > 3) {
- return NAN;
- }
- }
-
- c = 0;
-
- while (bearing < -M_PI_F) {
- bearing += M_TWOPI_F;
-
- if (c++ > 3) {
- return NAN;
- }
- }
-
- return bearing;
-}
-
-__EXPORT float _wrap_2pi(float bearing)
-{
- /* value is inf or NaN */
- if (!isfinite(bearing)) {
- return bearing;
- }
-
- int c = 0;
-
- while (bearing >= M_TWOPI_F) {
- bearing -= M_TWOPI_F;
-
- if (c++ > 3) {
- return NAN;
- }
- }
-
- c = 0;
-
- while (bearing < 0.0f) {
- bearing += M_TWOPI_F;
-
- if (c++ > 3) {
- return NAN;
- }
- }
-
- return bearing;
-}
-
-__EXPORT float _wrap_180(float bearing)
-{
- /* value is inf or NaN */
- if (!isfinite(bearing)) {
- return bearing;
- }
-
- int c = 0;
-
- while (bearing >= 180.0f) {
- bearing -= 360.0f;
-
- if (c++ > 3) {
- return NAN;
- }
- }
-
- c = 0;
-
- while (bearing < -180.0f) {
- bearing += 360.0f;
-
- if (c++ > 3) {
- return NAN;
- }
- }
-
- return bearing;
-}
-
-__EXPORT float _wrap_360(float bearing)
-{
- /* value is inf or NaN */
- if (!isfinite(bearing)) {
- return bearing;
- }
-
- int c = 0;
-
- while (bearing >= 360.0f) {
- bearing -= 360.0f;
-
- if (c++ > 3) {
- return NAN;
- }
- }
-
- c = 0;
-
- while (bearing < 0.0f) {
- bearing += 360.0f;
-
- if (c++ > 3) {
- return NAN;
- }
- }
-
- return bearing;
-}
diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h
deleted file mode 100644
index d077e00524f32d0eda42dc8576c1f74b1ebc2341..0000000000000000000000000000000000000000
--- a/src/lib/geo/geo.h
+++ /dev/null
@@ -1,315 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- * used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file geo.h
- *
- * Definition of geo / math functions to perform geodesic calculations
- *
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Anton Babushkin <anton.babushkin@me.com>
- * Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
- */
-
-#pragma once
-#include <platforms/px4_defines.h>
-
-#include "geo_lookup/geo_mag_declination.h"
-
-#include <stdbool.h>
-
-#define CONSTANTS_ONE_G 9.80665f /* m/s^2 */
-#define CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C 1.225f /* kg/m^3 */
-#define CONSTANTS_AIR_GAS_CONST 287.1f /* J/(kg * K) */
-#define CONSTANTS_ABSOLUTE_NULL_CELSIUS -273.15f /* °C */
-#define CONSTANTS_RADIUS_OF_EARTH 6371000 /* meters (m) */
-
-// XXX remove
-struct crosstrack_error_s {
- bool past_end; // Flag indicating we are past the end of the line/arc segment
- float distance; // Distance in meters to closest point on line/arc
- float bearing; // Bearing in radians to closest point on line/arc
-} ;
-
-/* lat/lon are in radians */
-struct map_projection_reference_s {
- uint64_t timestamp;
- double lat_rad;
- double lon_rad;
- double sin_lat;
- double cos_lat;
- bool init_done;
-};
-
-struct globallocal_converter_reference_s {
- float alt;
- bool init_done;
-};
-
-__BEGIN_DECLS
-
-/**
- * Checks if global projection was initialized
- * @return true if map was initialized before, false else
- */
-__EXPORT bool map_projection_global_initialized(void);
-
-/**
- * Checks if projection given as argument was initialized
- * @return true if map was initialized before, false else
- */
-__EXPORT bool map_projection_initialized(const struct map_projection_reference_s *ref);
-
-/**
- * Get the timestamp of the global map projection
- * @return the timestamp of the map_projection
- */
-__EXPORT uint64_t map_projection_global_timestamp(void);
-
-/**
- * Get the timestamp of the map projection given by the argument
- * @return the timestamp of the map_projection
- */
-__EXPORT uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref);
-
-/**
- * Writes the reference values of the global projection to ref_lat and ref_lon
- * @return 0 if map_projection_init was called before, -1 else
- */
-__EXPORT int map_projection_global_reference(double *ref_lat_rad, double *ref_lon_rad);
-
-/**
- * Writes the reference values of the projection given by the argument to ref_lat and ref_lon
- * @return 0 if map_projection_init was called before, -1 else
- */
-__EXPORT int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat_rad,
- double *ref_lon_rad);
-
-/**
- * Initializes the global map transformation.
- *
- * Initializes the transformation between the geographic coordinate system and
- * the azimuthal equidistant plane
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-__EXPORT int map_projection_global_init(double lat_0, double lon_0, uint64_t timestamp);
-
-/**
- * Initializes the map transformation given by the argument.
- *
- * Initializes the transformation between the geographic coordinate system and
- * the azimuthal equidistant plane
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-__EXPORT int map_projection_init_timestamped(struct map_projection_reference_s *ref,
- double lat_0, double lon_0, uint64_t timestamp);
-
-/**
- * Initializes the map transformation given by the argument and sets the timestamp to now.
- *
- * Initializes the transformation between the geographic coordinate system and
- * the azimuthal equidistant plane
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0);
-
-/**
- * Transforms a point in the geographic coordinate system to the local
- * azimuthal equidistant plane using the global projection
- * @param x north
- * @param y east
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- * @return 0 if map_projection_init was called before, -1 else
- */
-__EXPORT int map_projection_global_project(double lat, double lon, float *x, float *y);
-
-
-/* Transforms a point in the geographic coordinate system to the local
- * azimuthal equidistant plane using the projection given by the argument
-* @param x north
-* @param y east
-* @param lat in degrees (47.1234567°, not 471234567°)
-* @param lon in degrees (8.1234567°, not 81234567°)
-* @return 0 if map_projection_init was called before, -1 else
-*/
-__EXPORT int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x,
- float *y);
-
-/**
- * Transforms a point in the local azimuthal equidistant plane to the
- * geographic coordinate system using the global projection
- *
- * @param x north
- * @param y east
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- * @return 0 if map_projection_init was called before, -1 else
- */
-__EXPORT int map_projection_global_reproject(float x, float y, double *lat, double *lon);
-
-/**
- * Transforms a point in the local azimuthal equidistant plane to the
- * geographic coordinate system using the projection given by the argument
- *
- * @param x north
- * @param y east
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- * @return 0 if map_projection_init was called before, -1 else
- */
-__EXPORT int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat,
- double *lon);
-
-/**
- * Get reference position of the global map projection
- */
-__EXPORT int map_projection_global_getref(double *lat_0, double *lon_0);
-
-/**
- * Initialize the global mapping between global position (spherical) and local position (NED).
- */
-__EXPORT int globallocalconverter_init(double lat_0, double lon_0, float alt_0, uint64_t timestamp);
-
-/**
- * Checks if globallocalconverter was initialized
- * @return true if map was initialized before, false else
- */
-__EXPORT bool globallocalconverter_initialized(void);
-
-/**
- * Convert from global position coordinates to local position coordinates using the global reference
- */
-__EXPORT int globallocalconverter_tolocal(double lat, double lon, float alt, float *x, float *y, float *z);
-
-/**
- * Convert from local position coordinates to global position coordinates using the global reference
- */
-__EXPORT int globallocalconverter_toglobal(float x, float y, float z, double *lat, double *lon, float *alt);
-
-/**
- * Get reference position of the global to local converter
- */
-__EXPORT int globallocalconverter_getref(double *lat_0, double *lon_0, float *alt_0);
-
-/**
- * Returns the distance to the next waypoint in meters.
- *
- * @param lat_now current position in degrees (47.1234567°, not 471234567°)
- * @param lon_now current position in degrees (8.1234567°, not 81234567°)
- * @param lat_next next waypoint position in degrees (47.1234567°, not 471234567°)
- * @param lon_next next waypoint position in degrees (8.1234567°, not 81234567°)
- */
-__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
-
-
-/**
- * Creates a new waypoint C on the line of two given waypoints (A, B) at certain distance
- * from waypoint A
- *
- * @param lat_A waypoint A latitude in degrees (47.1234567°, not 471234567°)
- * @param lon_A waypoint A longitude in degrees (8.1234567°, not 81234567°)
- * @param lat_B waypoint B latitude in degrees (47.1234567°, not 471234567°)
- * @param lon_B waypoint B longitude in degrees (8.1234567°, not 81234567°)
- * @param dist distance of target waypoint from waypoint A in meters (can be negative)
- * @param lat_target latitude of target waypoint C in degrees (47.1234567°, not 471234567°)
- * @param lon_target longitude of target waypoint C in degrees (47.1234567°, not 471234567°)
- */
-__EXPORT void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B, double lon_B, float dist,
- double *lat_target, double *lon_target);
-
-/**
- * Creates a waypoint from given waypoint, distance and bearing
- * see http://www.movable-type.co.uk/scripts/latlong.html
- *
- * @param lat_start latitude of starting waypoint in degrees (47.1234567°, not 471234567°)
- * @param lon_start longitude of starting waypoint in degrees (8.1234567°, not 81234567°)
- * @param bearing in rad
- * @param distance in meters
- * @param lat_target latitude of target waypoint in degrees (47.1234567°, not 471234567°)
- * @param lon_target longitude of target waypoint in degrees (47.1234567°, not 471234567°)
- */
-__EXPORT void waypoint_from_heading_and_distance(double lat_start, double lon_start, float bearing, float dist,
- double *lat_target, double *lon_target);
-
-/**
- * Returns the bearing to the next waypoint in radians.
- *
- * @param lat_now current position in degrees (47.1234567°, not 471234567°)
- * @param lon_now current position in degrees (8.1234567°, not 81234567°)
- * @param lat_next next waypoint position in degrees (47.1234567°, not 471234567°)
- * @param lon_next next waypoint position in degrees (8.1234567°, not 81234567°)
- */
-__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
-
-__EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n,
- float *v_e);
-
-__EXPORT void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next,
- float *v_n, float *v_e);
-
-__EXPORT void add_vector_to_global_position(double lat_now, double lon_now, float v_n, float v_e, double *lat_res,
- double *lon_res);
-
-__EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now,
- double lat_start, double lon_start, double lat_end, double lon_end);
-
-__EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now,
- double lat_center, double lon_center,
- float radius, float arc_start_bearing, float arc_sweep);
-
-/*
- * Calculate distance in global frame
- */
-__EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now, float alt_now,
- double lat_next, double lon_next, float alt_next,
- float *dist_xy, float *dist_z);
-
-/*
- * Calculate distance in local frame (NED)
- */
-__EXPORT float mavlink_wpm_distance_to_point_local(float x_now, float y_now, float z_now,
- float x_next, float y_next, float z_next,
- float *dist_xy, float *dist_z);
-
-__EXPORT float _wrap_180(float bearing);
-__EXPORT float _wrap_360(float bearing);
-__EXPORT float _wrap_pi(float bearing);
-__EXPORT float _wrap_2pi(float bearing);
-
-__END_DECLS
diff --git a/src/lib/geo_lookup/CMakeLists.txt b/src/lib/geo_lookup/CMakeLists.txt
deleted file mode 100644
index c28e724bb94fb0c33e84ebb52bc04cb33e0eb2bd..0000000000000000000000000000000000000000
--- a/src/lib/geo_lookup/CMakeLists.txt
+++ /dev/null
@@ -1,41 +0,0 @@
-############################################################################
-#
-# Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-# notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-# notice, this list of conditions and the following disclaimer in
-# the documentation and/or other materials provided with the
-# distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-# used to endorse or promote products derived from this software
-# without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-px4_add_module(
- MODULE lib__geo_lookup
- COMPILE_FLAGS
- SRCS
- geo_mag_declination.c
- DEPENDS
- platforms__common
- )
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/lib/geo_lookup/geo_mag_declination.c b/src/lib/geo_lookup/geo_mag_declination.c
deleted file mode 100644
index 0ec1a80cf2c6e87d146bcdb647e38266202523e9..0000000000000000000000000000000000000000
--- a/src/lib/geo_lookup/geo_mag_declination.c
+++ /dev/null
@@ -1,135 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * 3. Neither the name MAVGEO nor the names of its contributors may be
- * used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
-* @file geo_mag_declination.c
-*
-* Calculation / lookup table for Earth's magnetic field declination.
-*
-* Lookup table from Scott Ferguson <scottfromscott@gmail.com> and
-* Stephan Brown <stephan.brown.07@gmail.com>
-*
-* XXX Lookup table currently too coarse in resolution (only full degrees)
-* and lat/lon res - needs extension medium term.
-*
-*/
-
-#include <stdint.h>
-#include "geo_mag_declination.h"
-
-/** set this always to the sampling in degrees for the table below */
-#define SAMPLING_RES 10.0f
-#define SAMPLING_MIN_LAT -60.0f
-#define SAMPLING_MAX_LAT 60.0f
-#define SAMPLING_MIN_LON -180.0f
-#define SAMPLING_MAX_LON 180.0f
-
-#define constrain(val, min, max) (val < min) ? min : ((val > max) ? max : val)
-
-static const int8_t declination_table[13][37] = \
-{
- { 47, 45, 44, 43, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -41, -48, -55, -61, -67, -71, -74, -75, -72, -61, -23, 23, 41, 46, 47, 47 },
- { 30, 30, 30, 30, 30, 29, 29, 29, 27, 23, 18, 11, 3, -3, -9, -12, -15, -17, -21, -26, -32, -39, -46, -51, -55, -57, -56, -52, -44, -31, -14, 1, 13, 21, 26, 29, 30 },
- { 22, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, -40, -44, -45, -44, -39, -31, -21, -11, -3, 3, 9, 14, 18, 20, 22 },
- { 16, 17, 17, 17, 17, 16, 16, 16, 15, 13, 8, 0, -9, -17, -22, -24, -25, -24, -22, -20, -21, -24, -29, -31, -31, -28, -23, -16, -9, -3, 0, 4, 7, 10, 13, 15, 16 },
- { 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -13, -19, -23, -24, -24, -21, -17, -12, -9, -10, -14, -17, -18, -16, -12, -8, -3, 0, 1, 3, 5, 8, 10, 12, 12 },
- { 10, 10, 10, 10, 10, 10, 10, 9, 8, 5, 0, -7, -15, -20, -22, -22, -19, -15, -10, -5, -2, -1, -4, -7, -8, -8, -6, -3, 0, 0, 1, 2, 4, 6, 8, 10, 10 },
- { 9, 9, 9, 9, 9, 9, 8, 8, 7, 3, -2, -9, -15, -19, -20, -17, -13, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 2, 5, 7, 8, 9 },
- { 8, 8, 8, 9, 9, 9, 8, 7, 5, 1, -3, -10, -15, -17, -17, -14, -10, -5, -2, 0, 1, 2, 2, 0, -1, -1, -1, -1, 0, 0, 0, 0, 0, 3, 5, 7, 8 },
- { 8, 8, 9, 9, 10, 10, 9, 8, 5, 0, -5, -11, -15, -16, -15, -11, -7, -3, -1, 0, 2, 3, 3, 1, 0, 0, 0, 0, 0, -1, -2, -3, -2, 0, 3, 6, 8 },
- { 6, 8, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -6, -3, 0, 1, 3, 4, 4, 3, 2, 1, 1, 0, -1, -3, -5, -6, -5, -3, 0, 3, 6 },
- { 5, 8, 11, 13, 14, 15, 13, 10, 5, -1, -9, -14, -16, -16, -13, -10, -6, -3, 0, 2, 3, 5, 5, 5, 5, 4, 3, 1, -1, -4, -7, -9, -8, -6, -2, 1, 5 },
- { 3, 8, 12, 15, 17, 17, 16, 12, 5, -3, -12, -18, -20, -19, -16, -12, -8, -4, 0, 2, 4, 7, 8, 9, 10, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, 0, 3 },
- { 3, 8, 13, 16, 19, 20, 19, 14, 4, -7, -18, -24, -26, -24, -21, -16, -11, -6, -2, 2, 6, 10, 13, 15, 17, 16, 13, 7, 0, -7, -13, -15, -14, -11, -6, -1, 3 },
-};
-
-static float get_lookup_table_val(unsigned lat, unsigned lon);
-static unsigned get_lookup_table_index(float *val, float min, float max);
-
-unsigned get_lookup_table_index(float *val, float min, float max)
-{
- /* for the rare case of hitting the bounds exactly
- * the rounding logic wouldn't fit, so enforce it.
- */
- /* limit to table bounds - required for maxima even when table spans full globe range */
- if (*val < min) {
- *val = min;
- }
-
- /* limit to (table bounds - 1) because bilinear interpolation requires checking (index + 1) */
- if (*val > max) {
- *val = max - SAMPLING_RES;
- }
-
- return (-(min) + *val) / SAMPLING_RES;
-}
-
-__EXPORT float get_mag_declination(float lat, float lon)
-{
- /*
- * If the values exceed valid ranges, return zero as default
- * as we have no way of knowing what the closest real value
- * would be.
- */
- if (lat < -90.0f || lat > 90.0f ||
- lon < -180.0f || lon > 180.0f) {
- return 0.0f;
- }
-
- /* round down to nearest sampling resolution */
- float min_lat = (int)(lat / SAMPLING_RES) * SAMPLING_RES;
- float min_lon = (int)(lon / SAMPLING_RES) * SAMPLING_RES;
-
- /* find index of nearest low sampling point */
- unsigned min_lat_index = get_lookup_table_index(&min_lat, SAMPLING_MIN_LAT, SAMPLING_MAX_LAT);
- unsigned min_lon_index = get_lookup_table_index(&min_lon, SAMPLING_MIN_LON, SAMPLING_MAX_LON);
-
- float declination_sw = get_lookup_table_val(min_lat_index, min_lon_index);
- float declination_se = get_lookup_table_val(min_lat_index, min_lon_index + 1);
- float declination_ne = get_lookup_table_val(min_lat_index + 1, min_lon_index + 1);
- float declination_nw = get_lookup_table_val(min_lat_index + 1, min_lon_index);
-
- /* perform bilinear interpolation on the four grid corners */
- float lat_scale = constrain((lat - min_lat) / SAMPLING_RES, 0.0f, 1.0f);
- float lon_scale = constrain((lon - min_lon) / SAMPLING_RES, 0.0f, 1.0f);
-
- float declination_min = lon_scale * (declination_se - declination_sw) + declination_sw;
- float declination_max = lon_scale * (declination_ne - declination_nw) + declination_nw;
-
- return lat_scale * (declination_max - declination_min) + declination_min;
-}
-
-float get_lookup_table_val(unsigned lat_index, unsigned lon_index)
-{
- return declination_table[lat_index][lon_index];
-}
diff --git a/src/lib/geo_lookup/geo_mag_declination.h b/src/lib/geo_lookup/geo_mag_declination.h
deleted file mode 100644
index 0ac062d6d43377011f3dfe1d75b6a700160badf2..0000000000000000000000000000000000000000
--- a/src/lib/geo_lookup/geo_mag_declination.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * 3. Neither the name MAVGEO nor the names of its contributors may be
- * used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
-* @file geo_mag_declination.h
-*
-* Calculation / lookup table for earth magnetic field declination.
-*
-*/
-
-#pragma once
-
-__BEGIN_DECLS
-
-__EXPORT float get_mag_declination(float lat, float lon);
-
-__END_DECLS
diff --git a/src/lib/matrix b/src/lib/matrix
index 41a1cc7583253f3063ab4c626c40e7bc2a0bc868..61af508755c59d177c4e61a35cbfa270b06d9684 160000
--- a/src/lib/matrix
+++ b/src/lib/matrix
@@ -1 +1 @@
-Subproject commit 41a1cc7583253f3063ab4c626c40e7bc2a0bc868
+Subproject commit 61af508755c59d177c4e61a35cbfa270b06d9684
diff --git a/src/lib/terrain_estimation/terrain_estimator.cpp b/src/lib/terrain_estimation/terrain_estimator.cpp
index c3c02ba22f3f502847527817ae604f6d47761051..63db46a90eed99c59883409559e58c4cbbaac5a8 100644
--- a/src/lib/terrain_estimation/terrain_estimator.cpp
+++ b/src/lib/terrain_estimation/terrain_estimator.cpp
@@ -37,7 +37,7 @@
*/
#include "terrain_estimator.h"
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#define DISTANCE_TIMEOUT 100000 // time in usec after which laser is considered dead
diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
index b65c29bd488cad0be7f19e1be09db5f008cb1250..b3035969827b3f39c63ad723ce9c08b37decc4dc 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -40,7 +40,8 @@
*/
#include <drivers/drv_hrt.h>
-#include <lib/geo/geo.h>
+#include <lib/ecl/geo/geo.h>
+#include <lib/ecl/geo_lookup/geo_mag_declination.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <mathlib/mathlib.h>
#include <px4_config.h>
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index 38159f91e387c4a6ca684e853b3b436e4788e39f..bbf504b45b7ef19233f8b3a7d430a979c62647fe 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -141,7 +141,7 @@
#include <string.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_accel.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <conversion/rotation.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp
index 46aeb909c5021432eb50aaca8038c87f2a44926f..b8f5a1d2114869f471e275a549e7817ce01e944b 100644
--- a/src/modules/commander/calibration_routines.cpp
+++ b/src/modules/commander/calibration_routines.cpp
@@ -48,7 +48,7 @@
#include <poll.h>
#include <drivers/drv_hrt.h>
#include <systemlib/mavlink_log.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <string.h>
#include <mathlib/mathlib.h>
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index ea36195742fddbda9c043eb1469cdae7c4f7d1b1..d936c77cbf32e2bbba1e61eb3fc0f4c52010ee18 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -65,7 +65,7 @@
#include <dataman/dataman.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <navigator/navigation.h>
#include <px4_defines.h>
diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index 4a69cd46fbcb4f0b932e2b6fc62e0743e1ccf213..bea7c1573d75e1558503205e5976c97daa709c8e 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -37,9 +37,11 @@ px4_add_module(
-Wno-sign-compare # TODO: fix all sign-compare
STACK_MAIN 2500
STACK_MAX 4000
+ INCLUDES
+ ${PX4_SOURCE_DIR}/src/lib/ecl
SRCS
ekf2_main.cpp
DEPENDS
- platforms__common
git_ecl
+ ecl
)
diff --git a/src/modules/fw_att_control/CMakeLists.txt b/src/modules/fw_att_control/CMakeLists.txt
index 87014c374398720afaa986c26c5ea139f9835d4f..90846f87141204770aaae49320ff1602bbe9df70 100644
--- a/src/modules/fw_att_control/CMakeLists.txt
+++ b/src/modules/fw_att_control/CMakeLists.txt
@@ -38,5 +38,5 @@ px4_add_module(
DEPENDS
platforms__common
git_ecl
- lib__ecl
+ ecl
)
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
index 1c09d1a7d1aacd734cd8cc416037f8913961b329..d3575586572ca21c053b62424b06a1889cf3aaf3 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
@@ -37,7 +37,7 @@
#include <ecl/attitude_fw/ecl_roll_controller.h>
#include <ecl/attitude_fw/ecl_wheel_controller.h>
#include <ecl/attitude_fw/ecl_yaw_controller.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <px4_config.h>
#include <px4_defines.h>
diff --git a/src/modules/fw_pos_control_l1/CMakeLists.txt b/src/modules/fw_pos_control_l1/CMakeLists.txt
index 225e402f3893497efa2c892f2e566674d6b4d30f..6b7f1e3fd0b57740d98c3fcfb6aaa6f3dc5cd5f0 100644
--- a/src/modules/fw_pos_control_l1/CMakeLists.txt
+++ b/src/modules/fw_pos_control_l1/CMakeLists.txt
@@ -38,13 +38,14 @@ px4_add_module(
MODULE modules__fw_pos_control_l1
MAIN fw_pos_control_l1
STACK_MAIN 1200
- COMPILE_FLAGS
+ INCLUDES
+ ${PX4_SOURCE_DIR}/src/lib/ecl
SRCS
FixedwingPositionControl.cpp
Landingslope.cpp
DEPENDS
git_ecl
- lib__ecl
+ ecl
launchdetection
runway_takeoff
)
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
index 8dbca7277f07df39db52eb469d132da62ae8fc40..63b0820ce136e05e773aa440b8c259c535104aa7 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
@@ -57,7 +57,7 @@
#include <drivers/drv_hrt.h>
#include <ecl/l1/ecl_l1_pos_controller.h>
#include <ecl/tecs/tecs.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <px4_config.h>
#include <px4_defines.h>
diff --git a/src/modules/gnd_att_control/CMakeLists.txt b/src/modules/gnd_att_control/CMakeLists.txt
index dca07b470591917b21dab61f5fa2d4eeffbca5b1..54bdb2b5b59a25b021ff62d3b6649b936656aa5c 100644
--- a/src/modules/gnd_att_control/CMakeLists.txt
+++ b/src/modules/gnd_att_control/CMakeLists.txt
@@ -38,8 +38,6 @@ px4_add_module(
SRCS
GroundRoverAttitudeControl.cpp
DEPENDS
- platforms__common
git_ecl
- lib__ecl
+ ecl
)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/modules/gnd_pos_control/CMakeLists.txt b/src/modules/gnd_pos_control/CMakeLists.txt
index df6257a0d9aa962e39a3cdda2d3eaa1c2fed53d9..fda35ebebf44abc28b2b9c43073a6e5b9f664bd4 100644
--- a/src/modules/gnd_pos_control/CMakeLists.txt
+++ b/src/modules/gnd_pos_control/CMakeLists.txt
@@ -35,11 +35,11 @@ px4_add_module(
MAIN gnd_pos_control
STACK_MAIN 1200
COMPILE_FLAGS
+ INCLUDES
+ ${PX4_SOURCE_DIR}/src/lib/ecl
SRCS
GroundRoverPositionControl.cpp
DEPENDS
- platforms__common
git_ecl
- lib__ecl
+ ecl
)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/modules/gnd_pos_control/GroundRoverPositionControl.hpp b/src/modules/gnd_pos_control/GroundRoverPositionControl.hpp
index 51754247a09a6583f55717f6415aac5ec550cea9..47cc6f8093058e396b0cdebbef2923e71e30ec0d 100644
--- a/src/modules/gnd_pos_control/GroundRoverPositionControl.hpp
+++ b/src/modules/gnd_pos_control/GroundRoverPositionControl.hpp
@@ -50,7 +50,7 @@
#include <drivers/drv_hrt.h>
#include <ecl/l1/ecl_l1_pos_controller.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <systemlib/perf_counter.h>
#include <systemlib/pid/pid.h>
diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
index 0a3115645c644a11269577c1e3dfa827417c6458..91106cca076d0b4a785ab3d7c66aa64fd3fab01e 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
@@ -4,7 +4,7 @@
#include <px4_module_params.h>
#include <controllib/blocks.hpp>
#include <mathlib/mathlib.h>
-#include <lib/geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <matrix/Matrix.hpp>
// uORB Subscriptions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 18c5646ec003e293828a7d1043371c2b0d1d7b63..0900c799d1d935f028a87230cd28daa4b84bdb88 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -69,7 +69,7 @@
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <systemlib/mavlink_log.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <dataman/dataman.h>
#include <version/version.h>
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index fb8be5ad578a3a2795f4d02a6ae476493cfd153c..67a0ddc0ab93a4b4ea1fab0c8e6d96afce20d075 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -49,7 +49,7 @@
#include <commander/px4_custom_mode.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_rc_input.h>
-#include <lib/geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <px4_time.h>
#include <systemlib/err.h>
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 4380ff9f5afc14980be96fef5c7990b1ed39f8c7..7e201cf9c5ca8f9b6d5d6950ebb1b51018913056 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -45,7 +45,7 @@
#include <errno.h>
#include <math.h>
-#include <lib/geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <px4_defines.h>
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 74d6c5ca5b9583cfe57421b06f9851f5e0e503ea..8cf9fdcddc163d7fc6a877e818b60fe1e56ec5b5 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -81,7 +81,7 @@
#include <systemlib/err.h>
#include <systemlib/airspeed.h>
#include <commander/px4_custom_mode.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <uORB/topics/vehicle_command_ack.h>
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 96362c76a9f8c4e8f856c43bbf80ced67c2ccfb5..2250abcea3e60335614b14c3d1ba301ae6e34706 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -47,7 +47,7 @@
#include <conversion/rotation.h>
#include <drivers/drv_hrt.h>
-#include <lib/geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <systemlib/circuit_breaker.h>
#include <mathlib/math/Limits.hpp>
#include <mathlib/math/Functions.hpp>
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 5fb3294a6ea4f44201e0ad0a4e16c55e23e3fa97..148a4f0b34d5e24248acbc3c9ed209b9b3cacba0 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -69,7 +69,7 @@
#include <uORB/topics/vehicle_status.h>
#include <float.h>
-#include <lib/geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <systemlib/mavlink_log.h>
diff --git a/src/modules/navigator/datalinkloss.cpp b/src/modules/navigator/datalinkloss.cpp
index bd11fd70bd170a7e737c1b7249a305d0c2f3c3bc..46dd0d3da0a82c44375aa6e44344e06e224f67a4 100644
--- a/src/modules/navigator/datalinkloss.cpp
+++ b/src/modules/navigator/datalinkloss.cpp
@@ -44,7 +44,7 @@
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <navigator/navigation.h>
#include <uORB/uORB.h>
diff --git a/src/modules/navigator/enginefailure.cpp b/src/modules/navigator/enginefailure.cpp
index 90c1897f9e5a29d01b3faa6425363b2c8b3fac7e..dcec92cac7a7116cc6fc90dfc071c9f02258772b 100644
--- a/src/modules/navigator/enginefailure.cpp
+++ b/src/modules/navigator/enginefailure.cpp
@@ -43,7 +43,7 @@
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <navigator/navigation.h>
#include <uORB/uORB.h>
diff --git a/src/modules/navigator/follow_target.cpp b/src/modules/navigator/follow_target.cpp
index aab2c2f878016c9926fad037657acbfc76cf3bcf..5cbe3190e5bf0c962a89dce5886e6ba9c758a7c6 100644
--- a/src/modules/navigator/follow_target.cpp
+++ b/src/modules/navigator/follow_target.cpp
@@ -51,7 +51,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/follow_target.h>
-#include <lib/geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <lib/mathlib/math/Limits.hpp>
#include "navigator.h"
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
index 1171de9c4080bbcde340a5c11a227f2da9eea577..9153385c703a790ce55ea242f506b9ef485ac65c 100644
--- a/src/modules/navigator/geofence.cpp
+++ b/src/modules/navigator/geofence.cpp
@@ -45,7 +45,7 @@
#include <dataman/dataman.h>
#include <drivers/drv_hrt.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <systemlib/mavlink_log.h>
#include "navigator.h"
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h
index 7fee1f69d9446243583951ffab84e7c95fc78513..2052d2534ab451cf89420ab50f6b9be7ae28f3bb 100644
--- a/src/modules/navigator/geofence.h
+++ b/src/modules/navigator/geofence.h
@@ -44,7 +44,7 @@
#include <px4_module_params.h>
#include <drivers/drv_hrt.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <px4_defines.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_global_position.h>
diff --git a/src/modules/navigator/gpsfailure.cpp b/src/modules/navigator/gpsfailure.cpp
index cd7d7d1704e82600bc84216d3731aca484f6a5d5..d51e5433848bebce5ec25a6624cfaea67b0746ad 100644
--- a/src/modules/navigator/gpsfailure.cpp
+++ b/src/modules/navigator/gpsfailure.cpp
@@ -41,7 +41,7 @@
#include "navigator.h"
#include <systemlib/mavlink_log.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <navigator/navigation.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 688625316f278b64a9e9475de839627c8c6390ab..fd32d46a4b62afca6d50702eadb65830a7766641 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -52,7 +52,7 @@
#include <dataman/dataman.h>
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <navigator/navigation.h>
#include <uORB/uORB.h>
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index ea85b7d017ba063cdf347230b32b873d0d7a0af5..044ce7efa47d8ec7bc677b63db6e5238ab717938 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -46,7 +46,7 @@
#include <math.h>
#include <float.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <systemlib/mavlink_log.h>
#include <mathlib/mathlib.h>
#include <uORB/uORB.h>
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index e9364c118a3b807157c83050151c7e465ae148cc..4d9c0e90d8ef9971e1243bd26398611817809d9e 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -46,7 +46,7 @@
#include <drivers/drv_pwm_output.h>
#include <fw_pos_control_l1/Landingslope.hpp>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <systemlib/mavlink_log.h>
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 7d70d9dc862e03a7061e92b27655b5804e10de5e..1d528ed00e40bbbb27b6725d27c5260bcdbb5752 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -52,7 +52,7 @@
#include <dataman/dataman.h>
#include <drivers/drv_hrt.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <px4_config.h>
#include <px4_defines.h>
diff --git a/src/modules/navigator/precland.h b/src/modules/navigator/precland.h
index 0d9177e5d3d68a73a1ea268afd0786566fa66549..f20757f7a78d3df9c0a0f0ad8c85cd200d03bf44 100644
--- a/src/modules/navigator/precland.h
+++ b/src/modules/navigator/precland.h
@@ -41,7 +41,7 @@
#pragma once
#include <matrix/math.hpp>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <px4_module_params.h>
#include <uORB/topics/landing_target_pose.h>
diff --git a/src/modules/navigator/rcloss.cpp b/src/modules/navigator/rcloss.cpp
index 74ef1615e017119303b706a0e9b399ae89955aa7..6d34fc7ed29681a4f197803349fe8e22ddd96890 100644
--- a/src/modules/navigator/rcloss.cpp
+++ b/src/modules/navigator/rcloss.cpp
@@ -44,7 +44,7 @@
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <uORB/uORB.h>
#include <navigator/navigation.h>
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
index 61fd66ffeb4dc7fb3e7c718855e506d6a396081e..59821bbb9046209f22d416de1394448d64d6ab34 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
@@ -66,7 +66,7 @@
#include <poll.h>
#include <systemlib/err.h>
#include <systemlib/mavlink_log.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <drivers/drv_hrt.h>
#include <platforms/px4_defines.h>
diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index c22f9f9342a485f9f5de87dc79d758ee69975cce..f471ace5c54f240c83f953e5d23b7d04b0b5ce82 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -61,7 +61,7 @@
#include <uORB/topics/distance_sensor.h>
#include <v2.0/mavlink_types.h>
#include <v2.0/common/mavlink.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
namespace simulator
{
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 554c28fbdfa18ad0501474fa59c898f1aab2271b..365440f786adc6436c7de003bb8ad9e465cf9a0f 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -38,7 +38,7 @@
#include "simulator.h"
#include <simulator_config.h>
#include "errno.h"
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <drivers/drv_pwm_output.h>
#include <sys/socket.h>
#include <netinet/in.h>
diff --git a/src/modules/systemlib/airspeed.c b/src/modules/systemlib/airspeed.c
index 6bca3a96a05d420e38c27e7f1f5e7edf4ea4e1d7..23b36a299bf1c24067f524dc4d99a38ceca878f4 100644
--- a/src/modules/systemlib/airspeed.c
+++ b/src/modules/systemlib/airspeed.c
@@ -40,11 +40,11 @@
*
*/
-#include <stdio.h>
-#include <math.h>
-#include <geo/geo.h>
#include "airspeed.h"
+#include <px4_defines.h>
+#include <lib/ecl/geo/geo.h>
+
/**
* Calculate indicated airspeed.
*
@@ -121,7 +121,7 @@ float calc_indicated_airspeed_corrected(enum AIRSPEED_COMPENSATION_MODEL pmodel,
// check if the tube diameter and dp is nonzero to avoid division by 0
if ((tube_dia_mm > 0.0f) && (dp > 0.0f)) {
const float d_tubePow4 = powf(tube_dia_mm * 1e-3f, 4);
- const float denominator = (float)M_PI * d_tubePow4 * rho_air * dp;
+ const float denominator = M_PI_F * d_tubePow4 * rho_air * dp;
// avoid division by 0
float eps = 0.0f;
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h
index 29ea822e0a68d3aa720400806238c9e19a1439ba..3f353d1d0a60eb9506b7995ab006fa62dc34501c 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.h
+++ b/src/modules/vtol_att_control/vtol_att_control_main.h
@@ -57,7 +57,7 @@
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>
-#include <lib/geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <systemlib/param/param.h>
diff --git a/src/platforms/ros/geo.cpp b/src/platforms/ros/geo.cpp
index d13a5e277a82b05c2a83363b747d16fc1f47b4c3..5f3307010e7f337fc5b8ff0b952c513d30dcb5fe 100644
--- a/src/platforms/ros/geo.cpp
+++ b/src/platforms/ros/geo.cpp
@@ -42,7 +42,7 @@
* @author Anton Babushkin <anton.babushkin@me.com>
*/
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
#include <px4.h>
#include <unistd.h>
#include <pthread.h>
diff --git a/src/systemcmds/tests/test_autodeclination.cpp b/src/systemcmds/tests/test_autodeclination.cpp
index 663014edb6360c01aa77f28859019cdfdc259dcb..07404113301611eb277188b69a2f9db08249d0a0 100644
--- a/src/systemcmds/tests/test_autodeclination.cpp
+++ b/src/systemcmds/tests/test_autodeclination.cpp
@@ -1,7 +1,8 @@
#include <unit_test.h>
#include <drivers/drv_hrt.h>
-#include <geo/geo.h>
+#include <lib/ecl/geo/geo.h>
+#include <ecl/geo_lookup/geo_mag_declination.h>
#include <px4iofirmware/px4io.h>
#include <systemlib/err.h>
#include <lib/mixer/mixer.h>