船舶航向计算

参考网址http://rebelengineering.blogspot.com/

Here is some of our code- this section is a compound if function written last night that determines the course angle based on the cartesian plane and the angle in degrees that the boat needs to travel.

{
   if((myLat- wp1Lat) < 0) //Top hemispehere
       {
       if((myLong - wp1Long) < 0) //Left Hemishpere
       {float course = 180 - angle;}
      
       else  //Right hemishpere
       {course = angle;}
       }
   else // Lower hemisphere
      {
      if((myLong - wp1Long) > 0) //Left Hemishpere
      {course = 180 + angle;}
     
      else  //Right hemishpere
      {course = 180 - angle;}
     
      Serial.print("        course:       ");
      Serial.print(course,4);
      }
}

This is the final code that calculates the course of the boat. This does NOT include tacking, only the actual angle course from point

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