Collaboration diagram for Position representations:

Macros
#define	POS_ECEF_I 0

#define	POS_NED_I 1

#define	POS_ENU_I 2

#define	POS_LLA_I 3

#define	POS_UTM_I 4

#define	POS_ECEF_F 5

#define	POS_NED_F 6

#define	POS_ENU_F 7

#define	POS_LLA_F 8

#define	POS_UTM_F 9

#define	POS_LOCAL_COORD ((1<<POS_NED_I)\|(1<<POS_NED_F)\|(1<<POS_ENU_I)\|(1<<POS_ENU_F))

#define	POS_GLOBAL_COORD ((1<<POS_ECEF_I)\|(1<<POS_ECEF_F)\|(1<<POS_LLA_I)\|(1<<POS_LLA_F)\|(1<<POS_UTM_I)\|(1<<POS_UTM_F))

Functions
void	stateCalcPositionEcef_i (void)

void	stateCalcPositionNed_i (void)

void	stateCalcPositionEnu_i (void)

void	stateCalcPositionLla_i (void)
	Calculate LLA (int) from any other available representation. More...

void	stateCalcPositionUtm_f (void)

void	stateCalcPositionEcef_f (void)

void	stateCalcPositionNed_f (void)

void	stateCalcPositionEnu_f (void)

void	stateCalcPositionLla_f (void)

static void	stateSetLocalOrigin_i (struct LtpDef_i *ltp_def)
	Set the local (flat earth) coordinate frame origin (int). More...

static void	stateSetLocalUtmOrigin_f (struct UtmCoor_f *utm_def)
	Set the local (flat earth) coordinate frame origin from UTM (float). More...

static bool	stateIsLocalCoordinateValid (void)
	Test if local coordinates are valid. More...

static bool	stateIsGlobalCoordinateValid (void)
	Test if global coordinates are valid. More...

static void	stateSetPositionEcef_i (struct EcefCoor_i *ecef_pos)
	Set position from ECEF coordinates (int). More...

static void	stateSetPositionNed_i (struct NedCoor_i *ned_pos)
	Set position from local NED coordinates (int). More...

static void	stateSetPositionEnu_i (struct EnuCoor_i *enu_pos)
	Set position from local ENU coordinates (int). More...

static void	stateSetPositionLla_i (struct LlaCoor_i *lla_pos)
	Set position from LLA coordinates (int). More...

static void	stateSetPosition_i (struct EcefCoor_i ecef_pos, struct NedCoor_i ned_pos, struct EnuCoor_i enu_pos, struct LlaCoor_i lla_pos)
	Set multiple position coordinates (int). More...

static void	stateSetPositionUtm_f (struct UtmCoor_f *utm_pos)
	Set position from UTM coordinates (float). More...

static void	stateSetPositionEcef_f (struct EcefCoor_f *ecef_pos)
	Set position from ECEF coordinates (float). More...

static void	stateSetPositionNed_f (struct NedCoor_f *ned_pos)
	Set position from local NED coordinates (float). More...

static void	stateSetPositionEnu_f (struct EnuCoor_f *enu_pos)
	Set position from local ENU coordinates (float). More...

static void	stateSetPositionLla_f (struct LlaCoor_f *lla_pos)
	Set position from LLA coordinates (float). More...

static void	stateSetPosition_f (struct EcefCoor_f ecef_pos, struct NedCoor_f ned_pos, struct EnuCoor_f enu_pos, struct LlaCoor_f lla_pos, struct UtmCoor_f *utm_pos)
	Set multiple position coordinates (float). More...

static struct EcefCoor_i *	stateGetPositionEcef_i (void)
	Get position in ECEF coordinates (int). More...

static struct NedCoor_i *	stateGetPositionNed_i (void)
	Get position in local NED coordinates (int). More...

static struct EnuCoor_i *	stateGetPositionEnu_i (void)
	Get position in local ENU coordinates (int). More...

static struct LlaCoor_i *	stateGetPositionLla_i (void)
	Get position in LLA coordinates (int). More...

static struct UtmCoor_f *	stateGetPositionUtm_f (void)
	Get position in UTM coordinates (float). More...

static struct EcefCoor_f *	stateGetPositionEcef_f (void)
	Get position in ECEF coordinates (float). More...

static struct NedCoor_f *	stateGetPositionNed_f (void)
	Get position in local NED coordinates (float). More...

static struct EnuCoor_f *	stateGetPositionEnu_f (void)
	Get position in local ENU coordinates (float). More...

static struct LlaCoor_f *	stateGetPositionLla_f (void)
	Get position in LLA coordinates (float). More...

Variables
uint16_t	State::pos_status
	Holds the status bits for all position representations. More...

struct EcefCoor_i	State::ecef_pos_i
	Position in EarthCenteredEarthFixed coordinates. More...

struct LlaCoor_i	State::lla_pos_i
	Position in Latitude, Longitude and Altitude. More...

struct LtpDef_i	State::ned_origin_i
	Definition of the local (flat earth) coordinate system. More...

bool	State::ned_initialized_i
	true if local int coordinate frame is initialsed More...

struct NedCoor_i	State::ned_pos_i
	Position in North East Down coordinates. More...

struct EnuCoor_i	State::enu_pos_i
	Position in East North Up coordinates. More...

struct UtmCoor_f	State::utm_pos_f
	Position in UTM coordinates. More...

float	State::alt_agl_f
	Altitude above ground level. More...

struct LlaCoor_f	State::lla_pos_f
	Position in Latitude, Longitude and Altitude. More...

struct EcefCoor_f	State::ecef_pos_f
	Position in EarthCenteredEarthFixed coordinates. More...

struct LtpDef_f	State::ned_origin_f
	Definition of the local (flat earth) coordinate system. More...

bool	State::ned_initialized_f
	True if local float coordinate frame is initialsed. More...

struct UtmCoor_f	State::utm_origin_f
	Definition of the origin of Utm coordinate system. More...

bool	State::utm_initialized_f
	True if utm origin (float) coordinate frame is initialsed. More...

struct NedCoor_f	State::ned_pos_f
	Position in North East Down coordinates. More...

struct EnuCoor_f	State::enu_pos_f
	Position in East North Up coordinates. More...

Detailed Description

Macro Definition Documentation

◆ POS_ECEF_F

#define POS_ECEF_F 5

Definition at line 72 of file state.h.

◆ POS_ECEF_I

#define POS_ECEF_I 0

Definition at line 67 of file state.h.

◆ POS_ENU_F

#define POS_ENU_F 7

Definition at line 74 of file state.h.

◆ POS_ENU_I

#define POS_ENU_I 2

Definition at line 69 of file state.h.

◆ POS_GLOBAL_COORD

Definition at line 78 of file state.h.

◆ POS_LLA_F

#define POS_LLA_F 8

Definition at line 75 of file state.h.

◆ POS_LLA_I

#define POS_LLA_I 3

Definition at line 70 of file state.h.

◆ POS_LOCAL_COORD

#define POS_LOCAL_COORD ((1<<POS_NED_I)|(1<<POS_NED_F)|(1<<POS_ENU_I)|(1<<POS_ENU_F))

Definition at line 77 of file state.h.

◆ POS_NED_F

#define POS_NED_F 6

Definition at line 73 of file state.h.

◆ POS_NED_I

#define POS_NED_I 1

Definition at line 68 of file state.h.

◆ POS_UTM_F

#define POS_UTM_F 9

Definition at line 76 of file state.h.

◆ POS_UTM_I

#define POS_UTM_I 4

Definition at line 71 of file state.h.

Function Documentation

◆ stateCalcPositionEcef_f()

void stateCalcPositionEcef_f ( void )

Definition at line 421 of file state.c.

References ECEF_FLOAT_OF_BFP, ecef_of_lla_f(), ecef_of_ned_point_f(), ecef_of_ned_pos_i(), State::ecef_pos_f, State::ecef_pos_i, LLA_FLOAT_OF_BFP, State::lla_pos_f, State::lla_pos_i, State::ned_initialized_f, State::ned_initialized_i, State::ned_origin_f, State::ned_origin_i, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, and state.

Referenced by stateGetPositionEcef_f().

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◆ stateCalcPositionEcef_i()

void stateCalcPositionEcef_i ( void )

Definition at line 87 of file state.c.

References ECEF_BFP_OF_REAL, ecef_of_lla_f(), ecef_of_lla_i(), ecef_of_ned_point_f(), ecef_of_ned_pos_i(), State::ecef_pos_f, State::ecef_pos_i, State::lla_pos_f, State::lla_pos_i, State::ned_initialized_f, State::ned_initialized_i, State::ned_origin_f, State::ned_origin_i, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, and state.

Referenced by stateGetPositionEcef_i().

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◆ stateCalcPositionEnu_f()

void stateCalcPositionEnu_f ( void )

Definition at line 519 of file state.c.

References ecef_of_lla_i(), State::ecef_pos_f, State::ecef_pos_i, ENU_FLOAT_OF_BFP, enu_of_ecef_point_f(), enu_of_ecef_pos_i(), enu_of_lla_point_f(), ENU_OF_UTM_DIFF, State::enu_pos_f, State::enu_pos_i, LLA_FLOAT_OF_BFP, State::lla_pos_f, State::lla_pos_i, NED_FLOAT_OF_BFP, State::ned_initialized_f, State::ned_origin_f, State::ned_origin_i, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_ENU_F, POS_ENU_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, POS_UTM_F, state, State::utm_initialized_f, utm_of_lla_f(), State::utm_origin_f, State::utm_pos_f, and VECT3_ENU_OF_NED.

Referenced by stateGetPositionEnu_f().

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◆ stateCalcPositionEnu_i()

void stateCalcPositionEnu_i ( void )

Definition at line 199 of file state.c.

References ecef_of_lla_f(), State::ecef_pos_f, State::ecef_pos_i, ENU_BFP_OF_REAL, enu_of_ecef_point_f(), enu_of_ecef_pos_i(), enu_of_lla_pos_i(), ENU_OF_UTM_DIFF, State::enu_pos_f, State::enu_pos_i, INT32_VECT3_ENU_OF_NED, LLA_FLOAT_OF_BFP, State::lla_pos_f, State::lla_pos_i, NED_BFP_OF_REAL, State::ned_initialized_i, State::ned_origin_f, State::ned_origin_i, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_ENU_F, POS_ENU_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, POS_UTM_F, state, State::utm_initialized_f, utm_of_lla_f(), State::utm_origin_f, and State::utm_pos_f.

Referenced by sim_overwrite_ins(), and stateGetPositionEnu_i().

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◆ stateCalcPositionLla_f()

void stateCalcPositionLla_f ( void )

Definition at line 592 of file state.c.

References ECEF_FLOAT_OF_BFP, ecef_of_enu_point_f(), ecef_of_ned_point_f(), State::ecef_pos_f, State::ecef_pos_i, ENU_FLOAT_OF_BFP, State::enu_pos_f, State::enu_pos_i, LLA_FLOAT_OF_BFP, lla_of_ecef_f(), lla_of_utm_f(), State::lla_pos_f, NED_FLOAT_OF_BFP, State::ned_initialized_f, State::ned_origin_f, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_ENU_F, POS_ENU_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, POS_UTM_F, state, State::utm_initialized_f, UTM_OF_ENU_ADD, UTM_OF_NED_ADD, State::utm_origin_f, and State::utm_pos_f.

Referenced by stateGetPositionLla_f().

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◆ stateCalcPositionLla_i()

void stateCalcPositionLla_i ( void )

Calculate LLA (int) from any other available representation.

Note that since LLA in float has bad precision this is the last choice. So we mostly first convert to ECEF and then use lla_of_ecef_i which provides higher precision but is currently using the double function internally. When using UTM coordinates, NED/ENU are abused as "local" UTM.

Definition at line 286 of file state.c.

References ECEF_BFP_OF_REAL, ecef_of_enu_pos_i(), ecef_of_ned_pos_i(), State::ecef_pos_f, State::ecef_pos_i, ENU_BFP_OF_REAL, ENU_FLOAT_OF_BFP, State::enu_pos_f, State::enu_pos_i, LLA_BFP_OF_REAL, lla_of_ecef_i(), lla_of_utm_f(), State::lla_pos_f, State::lla_pos_i, NED_BFP_OF_REAL, NED_FLOAT_OF_BFP, State::ned_initialized_i, State::ned_origin_i, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_ENU_F, POS_ENU_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, POS_UTM_F, state, State::utm_initialized_f, UTM_OF_ENU_ADD, UTM_OF_NED_ADD, State::utm_origin_f, and State::utm_pos_f.

Referenced by stateGetPositionLla_i().

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◆ stateCalcPositionNed_f()

void stateCalcPositionNed_f ( void )

Definition at line 452 of file state.c.

References ecef_of_lla_i(), State::ecef_pos_f, State::ecef_pos_i, ENU_FLOAT_OF_BFP, State::enu_pos_f, State::enu_pos_i, LLA_FLOAT_OF_BFP, State::lla_pos_f, State::lla_pos_i, NED_FLOAT_OF_BFP, State::ned_initialized_f, ned_of_ecef_point_f(), ned_of_ecef_pos_i(), ned_of_lla_point_f(), NED_OF_UTM_DIFF, State::ned_origin_f, State::ned_origin_i, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_ENU_F, POS_ENU_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, POS_UTM_F, state, State::utm_initialized_f, utm_of_lla_f(), State::utm_origin_f, State::utm_pos_f, and VECT3_NED_OF_ENU.

Referenced by stateGetPositionNed_f().

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◆ stateCalcPositionNed_i()

void stateCalcPositionNed_i ( void )

Definition at line 119 of file state.c.

References ecef_of_lla_f(), State::ecef_pos_f, State::ecef_pos_i, ENU_BFP_OF_REAL, State::enu_pos_f, State::enu_pos_i, INT32_VECT3_NED_OF_ENU, LLA_FLOAT_OF_BFP, State::lla_pos_f, State::lla_pos_i, NED_BFP_OF_REAL, State::ned_initialized_i, ned_of_ecef_point_f(), ned_of_ecef_pos_i(), ned_of_lla_pos_i(), NED_OF_UTM_DIFF, State::ned_origin_f, State::ned_origin_i, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_ENU_F, POS_ENU_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, POS_UTM_F, state, State::utm_initialized_f, utm_of_lla_f(), State::utm_origin_f, and State::utm_pos_f.

Referenced by stateGetPositionNed_i().

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◆ stateCalcPositionUtm_f()

void stateCalcPositionUtm_f ( void )

Definition at line 384 of file state.c.

References ENU_FLOAT_OF_BFP, State::enu_pos_f, State::enu_pos_i, LLA_FLOAT_OF_BFP, State::lla_pos_f, State::lla_pos_i, NED_FLOAT_OF_BFP, State::ned_pos_f, State::ned_pos_i, POS_ENU_F, POS_ENU_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, POS_UTM_F, state, State::utm_initialized_f, UTM_OF_ENU_ADD, utm_of_lla_f(), UTM_OF_NED_ADD, State::utm_origin_f, and State::utm_pos_f.

Referenced by stateGetPositionUtm_f().

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◆ stateGetPositionEcef_f()

static struct EcefCoor_f* stateGetPositionEcef_f ( void )

inlinestatic

Get position in ECEF coordinates (float).

Definition at line 701 of file state.h.

References State::ecef_pos_f, POS_ECEF_F, State::pos_status, state, and stateCalcPositionEcef_f().

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◆ stateGetPositionEcef_i()

static struct EcefCoor_i* stateGetPositionEcef_i ( void )

inlinestatic

Get position in ECEF coordinates (int).

Definition at line 656 of file state.h.

References State::ecef_pos_i, POS_ECEF_I, State::pos_status, state, and stateCalcPositionEcef_i().

Referenced by ins_vectornav_propagate().

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◆ stateGetPositionEnu_f()

static struct EnuCoor_f* stateGetPositionEnu_f ( void )

inlinestatic

Get position in local ENU coordinates (float).

Definition at line 719 of file state.h.

References State::enu_pos_f, POS_ENU_F, State::pos_status, state, and stateCalcPositionEnu_f().

Referenced by ballistic_touchdown_run(), baro_cb(), bf_getEstimatedAltitudeCm(), calculate_new_heading(), calculateForwards(), cam_nadir(), cam_target(), check_parachute_arming(), cloud_sim_detect(), collective_tracking_control(), compute_dist2_to_home(), compute_points_from_bungee(), ctc_target_send_info_to_nei(), dc_ctrl_parrot_mykonos_autoshoot(), dc_ctrl_parrot_mykonos_command(), dc_periodic(), dc_survey(), decawave_anchorless_communication_periodic(), distributed_circular(), draw_osd(), flight_benchmark_periodic(), fly_to_xy(), formation_flight(), formation_pre_call(), get_dist2_to_point(), get_time_to_home(), gls_run(), gvf_ellipse_info(), gvf_line_info(), gvf_parametric_control_2D(), gvf_segment_XY1_XY2(), gvf_sin_info(), hackhd_autoshoot(), hackhd_command(), home_direction(), jevois_send_state(), mission_nav_path(), mission_nav_segment(), mission_nav_wp(), mission_wait_pattern(), nav_advance_carrot(), nav_approaching(), nav_approaching_xy(), nav_bungee_takeoff_run(), nav_catapult_run(), nav_check_wp_time(), nav_circle(), nav_circle_XY(), nav_flower_run(), nav_flower_setup(), nav_glide_points(), nav_hybrid_approaching(), nav_hybrid_circle(), nav_hybrid_goto(), nav_hybrid_route(), nav_init_stage(), nav_lace_setup(), nav_land_here(), nav_land_run(), nav_launcher_run(), nav_launcher_setup(), nav_line_osam_run(), nav_rosette_setup(), nav_route(), nav_route_xy(), nav_set_heading_towards(), nav_skid_landing_glide(), nav_spiral_run(), nav_spiral_setup(), nav_survey_disc_setup(), nav_survey_hybrid_run(), nav_survey_poly_osam_run(), nav_survey_poly_run(), nav_survey_rectangle(), nav_survey_rectangle_init(), nav_survey_rectangle_rotorcraft_run(), nav_survey_rectangle_rotorcraft_setup(), nav_takeoff_from_here(), nav_takeoff_from_wp(), nav_takeoff_run(), nav_trinity_setup(), out_of_segment_area(), potential_task(), process_data(), range_msg_callback(), reset_all_vars(), rover_guidance_run(), snav_init(), snav_on_time(), sonar_adc_read(), sonar_pwm_read(), sonar_vl53l1x_read(), stereo_avoid_run(), tcas_periodic_task_1Hz(), tfmini_i2c_periodic(), and vertical_ctrl_module_run().

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◆ stateGetPositionEnu_i()

static struct EnuCoor_i* stateGetPositionEnu_i ( void )

inlinestatic

Get position in local ENU coordinates (int).

Definition at line 674 of file state.h.

References State::enu_pos_i, POS_ENU_I, State::pos_status, state, and stateCalcPositionEnu_i().

Referenced by calculateForwards(), follow_wp(), hott_update_eam_msg(), logger_control_effectiveness_periodic(), rotorcraft_cam_periodic(), run_avoid_navigation_onvision(), send_fp(), send_fp_min(), waypoint_set_here(), and waypoint_set_here_2d().

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◆ stateGetPositionLla_f()

static struct LlaCoor_f* stateGetPositionLla_f ( void )

inlinestatic

Get position in LLA coordinates (float).

Definition at line 728 of file state.h.

References State::lla_pos_f, POS_LLA_F, State::pos_status, state, and stateCalcPositionLla_f().

Referenced by air_data_get_amsl(), cv_target_localization_report_mark(), mavlink_send_vfr_hud(), mf_daq_send_state(), nav_takeoff_from_loc(), parse_mf_daq_msg(), pressure_abs_cb(), send_amsl(), and send_minimal_com().

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◆ stateGetPositionLla_i()

static struct LlaCoor_i* stateGetPositionLla_i ( void )

inlinestatic

Get position in LLA coordinates (int).

Definition at line 683 of file state.h.

References State::lla_pos_i, POS_LLA_I, State::pos_status, state, and stateCalcPositionLla_i().

Referenced by dc_info(), dc_send_command(), dc_send_shot_position(), mavlink_send_global_position_int(), meteo_stick_send_data(), push_gps_to_vision(), put_lat(), put_lon(), send_cloud_sensor_data(), waypoint_set_here(), and waypoint_set_here_2d().

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◆ stateGetPositionNed_f()

static struct NedCoor_f* stateGetPositionNed_f ( void )

inlinestatic

Get position in local NED coordinates (float).

Definition at line 710 of file state.h.

References State::ned_pos_f, POS_NED_F, State::pos_status, state, and stateCalcPositionNed_f().

Referenced by CN_calculate_target(), detection_cb(), ekf_aw_wrapper_periodic(), guidance_h_hover_enter(), guidance_v_guided_enter(), logger_file_write_row(), mavlink_send_local_position_ned(), oneloop_andi_run(), oneloop_from_nav(), print_true_state(), rotwing_state_choose_circle_direction(), rotwing_state_set_transition_wp(), rover_holo_guidance_run(), send_ins_flow(), tag_tracking_compute_speed(), target_pos_set_current_offset(), and update_tag_position().

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◆ stateGetPositionNed_i()

static struct NedCoor_i* stateGetPositionNed_i ( void )

inlinestatic

Get position in local NED coordinates (int).

Definition at line 665 of file state.h.

References State::ned_pos_i, POS_NED_I, State::pos_status, state, and stateCalcPositionNed_i().

Referenced by computeOptiTrack(), georeference_project(), guidance_h_update_reference(), guidance_module_enter(), guidance_v_guided_enter(), guidance_v_mode_changed(), guidance_v_set_th(), guidance_v_z_enter(), ins_vectornav_propagate(), reset_guidance_reference_from_current_position(), save_shot_on_disk(), send_gh(), send_hover_loop(), send_hybrid_guidance(), send_tune_vert(), and send_vert_loop().

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◆ stateGetPositionUtm_f()

static struct UtmCoor_f* stateGetPositionUtm_f ( void )

inlinestatic

Get position in UTM coordinates (float).

Definition at line 692 of file state.h.

References State::pos_status, POS_UTM_F, state, stateCalcPositionUtm_f(), and State::utm_pos_f.

Referenced by cam_target(), cloud_sensor_callback(), flight_benchmark_periodic(), gvf_nav_survey_polygon_run(), home_direction(), ins_alt_float_update_baro(), mf_daq_send_report(), nav_bungee_takeoff_run(), nav_bungee_takeoff_setup(), nav_catapult_run(), nav_launcher_run(), nav_launcher_setup(), nav_skid_landing_glide(), nav_skid_landing_run(), nav_skid_landing_setup(), nav_spiral_run(), nav_spiral_setup(), nav_survey_poly_osam_run(), nav_survey_polygon_run(), nav_vertical_raster_run(), send_estimator(), send_minimal_com(), tcas_periodic_task_1Hz(), tcas_periodic_task_4Hz(), v_ctl_altitude_loop(), v_ctl_landing_loop(), and vPoint().

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◆ stateIsGlobalCoordinateValid()

static bool stateIsGlobalCoordinateValid ( void )

inlinestatic

Test if global coordinates are valid.

Definition at line 515 of file state.h.

References POS_GLOBAL_COORD, State::pos_status, state, and stateIsLocalCoordinateValid().

Referenced by pressure_abs_cb().

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◆ stateIsLocalCoordinateValid()

static bool stateIsLocalCoordinateValid ( void )

inlinestatic

Test if local coordinates are valid.

Definition at line 508 of file state.h.

References State::ned_initialized_f, State::ned_initialized_i, POS_LOCAL_COORD, State::pos_status, state, and State::utm_initialized_f.

Referenced by copilot_parse_move_wp_dl(), nav_parse_MOVE_WP(), and stateIsGlobalCoordinateValid().

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◆ stateSetLocalOrigin_i()

static void stateSetLocalOrigin_i ( struct LtpDef_i * ltp_def )

inlinestatic

Set the local (flat earth) coordinate frame origin (int).

Definition at line 457 of file state.h.

References ACCEL_NED_F, ACCEL_NED_I, State::accel_status, LtpDef_f::ecef, LtpDef_i::ecef, ECEF_FLOAT_OF_BFP, HIGH_RES_RMAT_FLOAT_OF_BFP, LtpDef_f::hmsl, LtpDef_i::hmsl, LtpDef_f::lla, LtpDef_i::lla, LLA_FLOAT_OF_BFP, ltp_def, LtpDef_f::ltp_of_ecef, LtpDef_i::ltp_of_ecef, M_OF_MM, State::ned_initialized_f, State::ned_initialized_i, State::ned_origin_f, State::ned_origin_i, POS_LOCAL_COORD, State::pos_status, SPEED_LOCAL_COORD, State::speed_status, and state.

Referenced by ins_ekf2_init(), ins_ekf2_update(), ins_ext_pose_init_from_flightplan(), ins_float_invariant_init(), ins_flow_init(), ins_gps_passthrough_init(), ins_init_origin_i_from_flightplan(), ins_mekf_wind_wrapper_init(), ins_reset_altitude_ref(), and ins_reset_local_origin().

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◆ stateSetLocalUtmOrigin_f()

static void stateSetLocalUtmOrigin_f ( struct UtmCoor_f * utm_def )

inlinestatic

Set the local (flat earth) coordinate frame origin from UTM (float).

Definition at line 477 of file state.h.

References ACCEL_NED_F, ACCEL_NED_I, State::accel_status, POS_LOCAL_COORD, State::pos_status, SPEED_LOCAL_COORD, State::speed_status, state, State::utm_initialized_f, and State::utm_origin_f.

Referenced by ins_alt_float_init(), ins_float_invariant_init(), ins_gps_passthrough_init(), ins_mekf_wind_wrapper_init(), ins_reset_altitude_ref(), ins_reset_local_origin(), ins_reset_utm_zone(), ins_xsens700_init(), and ins_xsens_init().

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◆ stateSetPosition_f()

static void stateSetPosition_f	(	struct EcefCoor_f *	ecef_pos,
		struct NedCoor_f *	ned_pos,
		struct EnuCoor_f *	enu_pos,
		struct LlaCoor_f *	lla_pos,
		struct UtmCoor_f *	utm_pos
	)

inlinestatic

Set multiple position coordinates (float).

Definition at line 622 of file state.h.

References State::ecef_pos_f, State::enu_pos_f, LLA_COPY, State::lla_pos_f, State::ned_pos_f, POS_ECEF_F, POS_ENU_F, POS_LLA_F, POS_NED_F, State::pos_status, POS_UTM_F, state, State::utm_pos_f, and VECT3_COPY.

◆ stateSetPosition_i()

static void stateSetPosition_i	(	struct EcefCoor_i *	ecef_pos,
		struct NedCoor_i *	ned_pos,
		struct EnuCoor_i *	enu_pos,
		struct LlaCoor_i *	lla_pos
	)

inlinestatic

Set multiple position coordinates (int).

Definition at line 555 of file state.h.

References State::ecef_pos_i, State::enu_pos_i, LLA_COPY, State::lla_pos_i, State::ned_pos_i, POS_ECEF_I, POS_ENU_I, POS_LLA_I, POS_NED_I, State::pos_status, state, and VECT3_COPY.

◆ stateSetPositionEcef_f()

static void stateSetPositionEcef_f ( struct EcefCoor_f * ecef_pos )

inlinestatic

Set position from ECEF coordinates (float).

Definition at line 590 of file state.h.

References State::ecef_pos_f, POS_ECEF_F, State::pos_status, state, and VECT3_COPY.

◆ stateSetPositionEcef_i()

static void stateSetPositionEcef_i ( struct EcefCoor_i * ecef_pos )

inlinestatic

Set position from ECEF coordinates (int).

Definition at line 523 of file state.h.

References State::ecef_pos_i, POS_ECEF_I, State::pos_status, state, and VECT3_COPY.

◆ stateSetPositionEnu_f()

static void stateSetPositionEnu_f ( struct EnuCoor_f * enu_pos )

inlinestatic

Set position from local ENU coordinates (float).

Definition at line 606 of file state.h.

References State::enu_pos_f, POS_ENU_F, State::pos_status, state, and VECT3_COPY.

◆ stateSetPositionEnu_i()

static void stateSetPositionEnu_i ( struct EnuCoor_i * enu_pos )

inlinestatic

Set position from local ENU coordinates (int).

Definition at line 539 of file state.h.

References State::enu_pos_i, POS_ENU_I, State::pos_status, state, and VECT3_COPY.

◆ stateSetPositionLla_f()

static void stateSetPositionLla_f ( struct LlaCoor_f * lla_pos )

inlinestatic

Set position from LLA coordinates (float).

Definition at line 614 of file state.h.

References LLA_COPY, State::lla_pos_f, POS_LLA_F, State::pos_status, and state.

◆ stateSetPositionLla_i()

static void stateSetPositionLla_i ( struct LlaCoor_i * lla_pos )

inlinestatic

Set position from LLA coordinates (int).

Definition at line 547 of file state.h.

References LLA_COPY, State::lla_pos_i, POS_LLA_I, State::pos_status, and state.

Referenced by ins_vectornav_propagate().

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◆ stateSetPositionNed_f()

static void stateSetPositionNed_f ( struct NedCoor_f * ned_pos )

inlinestatic

Set position from local NED coordinates (float).

Definition at line 598 of file state.h.

References State::ned_pos_f, POS_NED_F, State::pos_status, state, and VECT3_COPY.

Referenced by ekf_run(), ins_ekf2_update(), ins_float_invariant_propagate(), set_state_from_ins(), and sim_overwrite_ins().

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◆ stateSetPositionNed_i()

static void stateSetPositionNed_i ( struct NedCoor_i * ned_pos )

inlinestatic

Set position from local NED coordinates (int).

Definition at line 531 of file state.h.

References State::ned_pos_i, POS_NED_I, State::pos_status, state, and VECT3_COPY.

Referenced by gps_cb(), and ins_ned_to_state().

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◆ stateSetPositionUtm_f()

static void stateSetPositionUtm_f ( struct UtmCoor_f * utm_pos )

inlinestatic

Set position from UTM coordinates (float).

Definition at line 582 of file state.h.

References State::pos_status, POS_UTM_F, state, and State::utm_pos_f.

Referenced by gps_cb(), ins_alt_float_init(), ins_alt_float_update_baro(), ins_alt_float_update_gps(), ins_float_invariant_init(), ins_gps_passthrough_init(), ins_mekf_wind_wrapper_init(), ins_xsens700_init(), ins_xsens_init(), and sim_overwrite_ins().

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Variable Documentation

◆ alt_agl_f

float State::alt_agl_f

Altitude above ground level.

Unit: meters

Definition at line 198 of file state.h.

Referenced by dc_send_command().

◆ ecef_pos_f

struct EcefCoor_f State::ecef_pos_f

Position in EarthCenteredEarthFixed coordinates.

Units: meters

Definition at line 198 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateGetPositionEcef_f(), stateSetPosition_f(), and stateSetPositionEcef_f().

◆ ecef_pos_i

struct EcefCoor_i State::ecef_pos_i

Position in EarthCenteredEarthFixed coordinates.

Units: centimeters

Definition at line 144 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateGetPositionEcef_i(), stateSetPosition_i(), and stateSetPositionEcef_i().

◆ enu_pos_f

struct EnuCoor_f State::enu_pos_f

Position in East North Up coordinates.

with respect to ned_origin_i (flat earth) Units: meters

Definition at line 236 of file state.h.

Referenced by stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionEnu_f(), stateSetPosition_f(), and stateSetPositionEnu_f().

◆ enu_pos_i

struct EnuCoor_i State::enu_pos_i

Position in East North Up coordinates.

with respect to ned_origin_i (flat earth) Units: m in BFP with INT32_POS_FRAC

Definition at line 171 of file state.h.

Referenced by stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionEnu_i(), stateSetPosition_i(), and stateSetPositionEnu_i().

◆ lla_pos_f

struct LlaCoor_f State::lla_pos_f

Position in Latitude, Longitude and Altitude.

Units lat,lon: radians Units alt: meters above reference ellipsoid

Definition at line 198 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionLla_f(), stateSetPosition_f(), and stateSetPositionLla_f().

◆ lla_pos_i

struct LlaCoor_i State::lla_pos_i

Position in Latitude, Longitude and Altitude.

Units lat,lon: degrees*1e7 Units alt: milimeters above reference ellipsoid

Definition at line 144 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionLla_i(), stateSetPosition_i(), and stateSetPositionLla_i().

◆ ned_initialized_f

bool State::ned_initialized_f

True if local float coordinate frame is initialsed.

Definition at line 223 of file state.h.

Referenced by error_output(), gps_cb(), ins_float_invariant_update_gps(), pressure_abs_cb(), sim_overwrite_ins(), stateCalcAccelEcef_f(), stateCalcAccelNed_f(), stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionLla_f(), stateCalcPositionNed_f(), stateCalcSpeedEnu_f(), stateCalcSpeedNed_f(), stateInit(), stateIsLocalCoordinateValid(), and stateSetLocalOrigin_i().

◆ ned_initialized_i

bool State::ned_initialized_i

true if local int coordinate frame is initialsed

Definition at line 171 of file state.h.

Referenced by acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), follow_me_set_wp(), mavlink_send_gps_global_origin(), mission_point_of_lla(), send_ins_ref(), sim_overwrite_ins(), stateCalcAccelEcef_i(), stateCalcAccelNed_i(), stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_i(), stateCalcPositionLla_i(), stateCalcPositionNed_i(), stateCalcSpeedEnu_i(), stateCalcSpeedNed_i(), stateInit(), stateIsLocalCoordinateValid(), stateSetLocalOrigin_i(), target_get_pos(), target_get_vel(), target_pos_set_current_offset(), waypoint_globalize(), and waypoint_localize().

◆ ned_origin_f

struct LtpDef_f State::ned_origin_f

Definition of the local (flat earth) coordinate system.

Defines the origin of the local NorthEastDown coordinate system in ECEF (EarthCenteredEarthFixed) and LLA (LatitudeLongitudeAlt) coordinates and the roation matrix from ECEF to local frame. (float version)

Definition at line 198 of file state.h.

Referenced by acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), detection_cb(), gazebo_read(), gps_cb(), ins_float_invariant_update_gps(), mavlink_send_vfr_hud(), nav_land_at_loc(), nav_set_altitude(), pressure_abs_cb(), stateCalcAccelEcef_f(), stateCalcAccelNed_f(), stateCalcHorizontalSpeedNorm_i(), stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcSpeedEcef_f(), stateCalcSpeedEnu_f(), stateCalcSpeedNed_f(), stateSetLocalOrigin_i(), and tag_tracking_report().

◆ ned_origin_i

struct LtpDef_i State::ned_origin_i

Definition of the local (flat earth) coordinate system.

Defines the origin of the local NorthEastDown coordinate system in ECEF (EarthCenteredEarthFixed) and LLA (LatitudeLongitudeAlt) coordinates and the roation matrix from ECEF to local frame. (int version)

Definition at line 144 of file state.h.

Referenced by acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), copilot_parse_move_wp_dl(), follow_me_periodic(), follow_me_set_wp(), gps_cb(), ins_float_invariant_update_gps(), ins_reset_altitude_ref(), mavlink_common_message_handler(), mavlink_send_global_position_int(), mavlink_send_gps_global_origin(), mavlink_wp_message_handler(), mission_point_of_lla(), nav_parse_MOVE_WP(), send_ins_ref(), stateCalcAccelEcef_i(), stateCalcAccelNed_i(), stateCalcHorizontalSpeedNorm_i(), stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcSpeedEcef_i(), stateCalcSpeedEnu_i(), stateCalcSpeedNed_i(), stateSetLocalOrigin_i(), target_get_pos(), target_pos_set_current_offset(), waypoint_get_lla_alt(), waypoint_globalize(), waypoint_localize(), waypoint_move_here_2d(), and waypoint_move_lla().

◆ ned_pos_f

struct NedCoor_f State::ned_pos_f

Position in North East Down coordinates.

with respect to ned_origin_i (flat earth) Units: meters

Definition at line 236 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionNed_f(), stateSetPosition_f(), and stateSetPositionNed_f().

◆ ned_pos_i

struct NedCoor_i State::ned_pos_i

Position in North East Down coordinates.

with respect to ned_origin_i (flat earth) Units: m in BFP with INT32_POS_FRAC

Definition at line 171 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionNed_i(), stateSetPosition_i(), and stateSetPositionNed_i().

◆ pos_status

uint16_t State::pos_status

Holds the status bits for all position representations.

When the corresponding bit is set the representation is already computed.

Definition at line 144 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionEcef_f(), stateGetPositionEcef_i(), stateGetPositionEnu_f(), stateGetPositionEnu_i(), stateGetPositionLla_f(), stateGetPositionLla_i(), stateGetPositionNed_f(), stateGetPositionNed_i(), stateGetPositionUtm_f(), stateInit(), stateIsGlobalCoordinateValid(), stateIsLocalCoordinateValid(), stateSetLocalOrigin_i(), stateSetLocalUtmOrigin_f(), stateSetPosition_f(), stateSetPosition_i(), stateSetPositionEcef_f(), stateSetPositionEcef_i(), stateSetPositionEnu_f(), stateSetPositionEnu_i(), stateSetPositionLla_f(), stateSetPositionLla_i(), stateSetPositionNed_f(), stateSetPositionNed_i(), and stateSetPositionUtm_f().

◆ utm_initialized_f

bool State::utm_initialized_f

True if utm origin (float) coordinate frame is initialsed.

Definition at line 236 of file state.h.

Referenced by acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), error_output(), gps_cb(), ins_float_invariant_update_gps(), sim_overwrite_ins(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateCalcSpeedEnu_f(), stateCalcSpeedEnu_i(), stateCalcSpeedNed_f(), stateCalcSpeedNed_i(), stateInit(), stateIsLocalCoordinateValid(), and stateSetLocalUtmOrigin_f().

◆ utm_origin_f

struct UtmCoor_f State::utm_origin_f

Definition of the origin of Utm coordinate system.

Defines the origin of the local NorthEastDown coordinate system in UTM coordinates, used as a reference when ned_origin is not initialized. Altitude is height above MSL. (float version)

Definition at line 223 of file state.h.

Referenced by acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), acInfoCalcPositionUtm_f(), acInfoCalcPositionUtm_i(), gps_cb(), ins_float_invariant_update_gps(), ins_reset_altitude_ref(), nav_land_at_loc(), nav_reset_alt(), nav_reset_reference(), nav_takeoff_from_loc(), set_ac_info_utm(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateInit(), and stateSetLocalUtmOrigin_f().

◆ utm_pos_f

struct UtmCoor_f State::utm_pos_f

Position in UTM coordinates.

Units x,y: meters. Units z: meters above MSL

Definition at line 171 of file state.h.

Referenced by stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionUtm_f(), stateSetPosition_f(), and stateSetPositionUtm_f().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ POS_ECEF_F

◆ POS_ECEF_I

◆ POS_ENU_F

◆ POS_ENU_I

◆ POS_GLOBAL_COORD

◆ POS_LLA_F

◆ POS_LLA_I

◆ POS_LOCAL_COORD

◆ POS_NED_F

◆ POS_NED_I

◆ POS_UTM_F

◆ POS_UTM_I

Function Documentation

◆ stateCalcPositionEcef_f()

◆ stateCalcPositionEcef_i()

◆ stateCalcPositionEnu_f()

◆ stateCalcPositionEnu_i()

◆ stateCalcPositionLla_f()

◆ stateCalcPositionLla_i()

◆ stateCalcPositionNed_f()

◆ stateCalcPositionNed_i()

◆ stateCalcPositionUtm_f()

◆ stateGetPositionEcef_f()

◆ stateGetPositionEcef_i()

◆ stateGetPositionEnu_f()

◆ stateGetPositionEnu_i()

◆ stateGetPositionLla_f()

◆ stateGetPositionLla_i()

◆ stateGetPositionNed_f()

◆ stateGetPositionNed_i()

◆ stateGetPositionUtm_f()

◆ stateIsGlobalCoordinateValid()

◆ stateIsLocalCoordinateValid()

◆ stateSetLocalOrigin_i()

◆ stateSetLocalUtmOrigin_f()

◆ stateSetPosition_f()

◆ stateSetPosition_i()

◆ stateSetPositionEcef_f()

◆ stateSetPositionEcef_i()

◆ stateSetPositionEnu_f()

◆ stateSetPositionEnu_i()

◆ stateSetPositionLla_f()

◆ stateSetPositionLla_i()

◆ stateSetPositionNed_f()

◆ stateSetPositionNed_i()

◆ stateSetPositionUtm_f()

Variable Documentation

◆ alt_agl_f

◆ ecef_pos_f

◆ ecef_pos_i

◆ enu_pos_f

◆ enu_pos_i

◆ lla_pos_f

◆ lla_pos_i

◆ ned_initialized_f

◆ ned_initialized_i

◆ ned_origin_f

◆ ned_origin_i

◆ ned_pos_f

◆ ned_pos_i

◆ pos_status

◆ utm_initialized_f

◆ utm_origin_f

◆ utm_pos_f