#include <math.h>
#include "Altimeter.h"

Altimeter::Altimeter(const char *name, NavSensors *sensors, int maxBad)
  : RangeFinder(name, sensors, maxBad)
{
}


double Altimeter::altitude(NavigationIF::Attitude *attitude)
{
  return (_range * cos( attitude->pitch + _xzMountAngle ) * 
	  cos( attitude->roll ));
}


double Altimeter::maxMeasurableAltitude(NavigationIF::Attitude *attitude)
{
  return (_maxMeasurableRange * cos( attitude->pitch + _xzMountAngle ) * 
	  cos( attitude->roll ));
}