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       1            0 : /*
       2              :  * Copyright (c) 2023 Trackunit Corporation
       3              :  *
       4              :  * SPDX-License-Identifier: Apache-2.0
       5              :  */
       6              : 
       7              : #ifndef ZEPHYR_INCLUDE_DATA_NAVIGATION_H_
       8              : #define ZEPHYR_INCLUDE_DATA_NAVIGATION_H_
       9              : 
      10              : #include <zephyr/types.h>
      11              : 
      12              : /**
      13              :  * @brief Navigation utilities
      14              :  * @defgroup navigation Navigation
      15              :  * @ingroup utilities
      16              :  * @{
      17              :  */
      18              : 
      19              : /**
      20              :  * @brief Navigation data structure
      21              :  *
      22              :  * @details The structure describes the momentary navigation details of a
      23              :  * point relative to a sphere (commonly Earth)
      24              :  */
      25            1 : struct navigation_data {
      26              :         /** Latitudal position in nanodegrees (0 to +-180E9) */
      27            1 :         int64_t latitude;
      28              :         /** Longitudal position in nanodegrees (0 to +-180E9) */
      29            1 :         int64_t longitude;
      30              :         /** Bearing angle in millidegrees (0 to 360E3) */
      31            1 :         uint32_t bearing;
      32              :         /** Speed in millimeters per second */
      33            1 :         uint32_t speed;
      34              :         /** Altitude above MSL in millimeters */
      35            1 :         int32_t altitude;
      36              : };
      37              : 
      38              : /**
      39              :  * @brief Calculate the distance between two navigation points along the
      40              :  * surface of the sphere they are relative to.
      41              :  *
      42              :  * @param distance Destination for calculated distance in millimeters
      43              :  * @param p1 First navigation point
      44              :  * @param p2 Second navigation point
      45              :  *
      46              :  * @return 0 if successful
      47              :  * @return -EINVAL if either navigation point is invalid
      48              :  */
      49            1 : int navigation_distance(uint64_t *distance, const struct navigation_data *p1,
      50              :                         const struct navigation_data *p2);
      51              : 
      52              : /**
      53              :  * @brief Calculate the bearing from one navigation point to another
      54              :  *
      55              :  * @param bearing Destination for calculated bearing angle in millidegrees
      56              :  * @param from First navigation point
      57              :  * @param to Second navigation point
      58              :  *
      59              :  * @return 0 if successful
      60              :  * @return -EINVAL if either navigation point is invalid
      61              :  */
      62            1 : int navigation_bearing(uint32_t *bearing, const struct navigation_data *from,
      63              :                        const struct navigation_data *to);
      64              : 
      65              : /**
      66              :  * @}
      67              :  */
      68              : 
      69              : #endif /* ZEPHYR_INCLUDE_DATA_NAVIGATION_H_ */