1，算法

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static double pi = 3.1415926535897932384626; static double a = 6378245.0; static double ee = 0.00669342162296594323;

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//坐標系轉換

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static double lonTrans(double x,double y); static double latTrans(double x,double y); static bool outOfChina(double lat,double lng); static void wgs84ToGcj02(double wgs_lat, double wgs_lon,double &gcjLat,double &gcjLon);

????????static void gcj02ToWgs84(double gcjLat,double gcjLon,double &wgs_lat, double &wgs_lon);

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double Vehicle::lonTrans(double x, double y) { double ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * sqrt(abs(x)); ret += (20.0 * sin(6.0 * x * pi) + 20.0 * sin(2.0 * x * pi)) * 2.0 / 3.0; ret += (20.0 * sin(x * pi) + 40.0 * sin(x / 3.0 * pi)) * 2.0 / 3.0; ret += (150.0 * sin(x / 12.0 * pi) + 300.0 * sin(x / 30.0 * pi)) * 2.0 / 3.0; return ret; } ? double Vehicle::latTrans(double x, double y) { double ret =-100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y + 0.2 * sqrt(abs(x)); ret += (20.0 * sin(6.0 * x * pi) + 20.0 * sin(2.0 * x * pi)) * 2.0 / 3.0; ret += (20.0 * sin(y * pi) + 40.0 * sin(y / 3.0 * pi)) * 2.0 / 3.0; ret += (160.0 * sin(y / 12.0 * pi) + 320 * sin(y * pi / 30.0)) * 2.0 / 3.0; return ret; } ? bool Vehicle::outOfChina(double lat,double lng) { if (lng < 72.004 || lng > 137.8347) { return true; } else if (lat < 0.8293 || lat > 55.8271) { return true; } return false; } ? void Vehicle::wgs84ToGcj02(double wgs_lat, double wgs_lon,double &gcjLat,double &gcjLon) { if(!outOfChina(wgs_lat,wgs_lon)) { double dLat = latTrans(wgs_lon - 105.0, wgs_lat - 35.0); double dLon = lonTrans(wgs_lon - 105.0, wgs_lat - 35.0); double radLat = wgs_lat / 180.0 * pi; double magic = sin(radLat); magic = 1 - ee * magic * magic; double sqrtMagic = sqrt(magic); dLat = (dLat * 180.0) / ((a * (1 - ee)) / (magic * sqrtMagic) * pi); dLon = (dLon * 180.0) / (a / sqrtMagic * cos(radLat) * pi); gcjLat = wgs_lat + dLat; gcjLon = wgs_lon + dLon; }else{ gcjLat=wgs_lat; gcjLon = wgs_lon; } } ? void Vehicle::gcj02ToWgs84(double gcjLat, double gcjLon, double &wgs_lat, double &wgs_lon) { if(!outOfChina(gcjLat,gcjLon)) { double dLat = latTrans(gcjLon - 105.0, gcjLat - 35.0); double dLon = lonTrans(gcjLon - 105.0, gcjLat - 35.0); double radLat = gcjLat / 180.0 * pi; double magic = sin(radLat); magic = 1 - ee * magic * magic; double sqrtMagic = sqrt(magic); dLat = (dLat * 180.0) / ((a * (1 - ee)) / (magic * sqrtMagic) * pi); dLon = (dLon * 180.0) / (a / sqrtMagic * cos(radLat) * pi); double tempLat = gcjLat + dLat; double tempLon = gcjLon + dLon; ? wgs_lat = gcjLat*2-tempLat; wgs_lon = gcjLon*2-tempLon; }else{ wgs_lat = gcjLat; wgs_lon = gcjLon; } }

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2，四個 地方需要添加轉換

（1），飛機位置

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//設置飛機的 位置 wgs84->火星坐標系 void Vehicle::setLatitude(double latitude) { _coordinate.setLatitude(latitude); ? //坐標轉換 double gcjLat=0,gcjLon=0; wgs84ToGcj02(_coordinate.latitude(),_coordinate.longitude(),gcjLat,gcjLon); _coordinate.setLatitude(gcjLat); ? emit coordinateChanged(_coordinate); } ? void Vehicle::setLongitude(double longitude){ _coordinate.setLongitude(longitude); ? //坐標轉換 double gcjLat=0,gcjLon=0; wgs84ToGcj02(_coordinate.latitude(),_coordinate.longitude(),gcjLat,gcjLon); _coordinate.setLongitude(gcjLon); ? emit coordinateChanged(_coordinate); }

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（2），上傳任務時

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void MissionManager::_handleMissionItem(const mavlink_message_t& message) { mavlink_mission_item_t missionItem; if (!_checkForExpectedAck(AckMissionItem)) { return; } mavlink_msg_mission_item_decode(&message, &missionItem); qCDebug(MissionManagerLog) << "_handleMissionItem sequenceNumber:" << missionItem.seq<<"->> "<<missionItem.x<<" "<<missionItem.y; if (_itemIndicesToRead.contains(missionItem.seq)) { _itemIndicesToRead.removeOne(missionItem.seq); //wgs84->火星坐標系 double gcjLat=0,gcjLon=0; Vehicle::wgs84ToGcj02(missionItem.x,missionItem.y,gcjLat,gcjLon); qDebug()<<"wgs84->gcj"<<missionItem.x<<missionItem.y<<" "<<gcjLat<<gcjLon; /********************************************/ ? ? MissionItem* item = new MissionItem(missionItem.seq, (MAV_CMD)missionItem.command, (MAV_FRAME)missionItem.frame, missionItem.param1, missionItem.param2, missionItem.param3, missionItem.param4, gcjLat/*missionItem.x*/, gcjLon/*missionItem.y*/, missionItem.z, missionItem.autocontinue, missionItem.current, this); ? ? ? if (item->command() == MAV_CMD_DO_JUMP && !_vehicle->firmwarePlugin()->sendHomePositionToVehicle()) { // Home is in position 0 item->setParam1((int)item->param1() + 1); } ? _missionItems.append(item); } else { qCDebug(MissionManagerLog) << "_handleMissionItem mission item received item index which was not requested, disregrarding:" << missionItem.seq; // We have to put the ack timeout back since it was removed above _startAckTimeout(AckMissionItem); return; } _retryCount = 0; if (_itemIndicesToRead.count() == 0) { _readTransactionComplete(); } else { _requestNextMissionItem(); } }

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（3），下載任務時

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void MissionManager::_handleMissionRequest(const mavlink_message_t& message) { mavlink_mission_request_t missionRequest; if (!_checkForExpectedAck(AckMissionRequest)) { return; } mavlink_msg_mission_request_decode(&message, &missionRequest); qCDebug(MissionManagerLog) << "_handleMissionRequest sequenceNumber:" << missionRequest.seq; if (!_itemIndicesToWrite.contains(missionRequest.seq)) { if (missionRequest.seq > _missionItems.count()) { _sendError(RequestRangeError, QString("Vehicle requested item outside range, count:request %1:%2. Send to Vehicle failed.").arg(_missionItems.count()).arg(missionRequest.seq)); _finishTransaction(false); return; } else { qCDebug(MissionManagerLog) << "_handleMissionRequest sequence number requested which has already been sent, sending again:" << missionRequest.seq; } } else { _itemIndicesToWrite.removeOne(missionRequest.seq); } mavlink_message_t messageOut; mavlink_mission_item_t missionItem; MissionItem* item = _missionItems[missionRequest.seq]; //火星 坐標 ->WGS84 double gcjLat= item->param5(); double gcjLon = item->param6(); double wgsLat=0; double wgsLon=0; ? Vehicle::gcj02ToWgs84(gcjLat,gcjLon,wgsLat,wgsLon); qDebug()<<"gcj->wgs84"<<gcjLat<<gcjLon<<" "<<wgsLat<<wgsLon; /***********************************/ ? missionItem.target_system = _vehicle->id(); missionItem.target_component = MAV_COMP_ID_MISSIONPLANNER; missionItem.seq = missionRequest.seq; missionItem.command = item->command(); missionItem.param1 = item->param1(); missionItem.param2 = item->param2(); missionItem.param3 = item->param3(); missionItem.param4 = item->param4(); missionItem.x = wgsLat;//item->param5(); missionItem.y = wgsLon;//item->param6(); missionItem.z = item->param7(); missionItem.frame = item->frame(); missionItem.current = missionRequest.seq == 0; missionItem.autocontinue = item->autoContinue(); mavlink_msg_mission_item_encode_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), _dedicatedLink->mavlinkChannel(), &messageOut, &missionItem); ? _vehicle->sendMessageOnLink(_dedicatedLink, messageOut); _startAckTimeout(AckMissionRequest); }

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（4），飛行界面 home點

void Vehicle::_handleHomePosition(mavlink_message_t& message)
{
? ? bool emitHomePositionChanged =? ? ? ? ? false;
? ? bool emitHomePositionAvailableChanged = false;


? ? mavlink_home_position_t homePos;


? ? mavlink_msg_home_position_decode(&message, &homePos);




? ? //坐標轉換
? ? double gcjLat=0,gcjLon=0;
? ? wgs84ToGcj02(homePos.latitude / 10000000.0,? homePos.longitude / 10000000.0,gcjLat,gcjLon);
? ? QGeoCoordinate newHomePosition (gcjLat, gcjLon, homePos.altitude / 1000.0);
? ? /*********************************************************************************/




//? ? QGeoCoordinate newHomePosition (homePos.latitude / 10000000.0,
//? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? homePos.longitude / 10000000.0,
//? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? homePos.altitude / 1000.0);
? ? if (!_homePositionAvailable || newHomePosition != _homePosition) {
? ? ? ? emitHomePositionChanged = true;
? ? ? ? _homePosition = newHomePosition;
? ? }


? ? if (!_homePositionAvailable) {
? ? ? ? emitHomePositionAvailableChanged = true;
? ? ? ? _homePositionAvailable = true;
? ? }


? ? if (emitHomePositionChanged) {
? ? ? ? qCDebug(VehicleLog) << "New home position" << newHomePosition;
? ? ? ? qgcApp()->setLastKnownHomePosition(_homePosition);
? ? ? ? emit homePositionChanged(_homePosition);
? ? }
? ? if (emitHomePositionAvailableChanged) {
? ? ? ? emit homePositionAvailableChanged(true);
? ? }
}

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