#define PI 3.14159265
#define LATBASE 51.0f
#define LONBASE 0.0f
#define EARTH_RAD 6378137

void calculateGPS(int32_t *lati, int32_t *loni, float x, float y)
{
    float dn = -y;
    float de = -x;

    double d_lat = dn/EARTH_RAD;
    double d_lon = de/(EARTH_RAD*cos(PI*LATBASE/180));

    double latfin = LATBASE + d_lat*180/PI;
    double lonfin = LONBASE + d_lon*180/PI;

    // Return computed values by ref
    (*lati) = latfin*1e7;
    (*loni) = lonfin*1e7;
}