ins_gps_passthrough.c File Reference

Simply converts GPS ECEF position and velocity to NED and passes it through to the state interface. More...

#include "modules/ins/ins_gps_passthrough.h"
#include "modules/ins/ins.h"
#include <inttypes.h>
#include <math.h>
#include "state.h"
#include "modules/gps/gps.h"
#include "modules/core/abi.h"
#include "modules/datalink/telemetry.h"

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Data Structures
struct	InsGpsPassthrough

Macros
#define	USE_INS_NAV_INIT   TRUE
#define	INS_PT_IMU_ID   ABI_BROADCAST
	ABI bindings on ACCEL data.
#define	INS_PT_GPS_ID   GPS_MULTI_ID
	ABI binding for gps data.

Functions
static void	accel_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
static void	reset_cb (uint8_t sender_id, uint8_t flag)
static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
static void	send_ins (struct transport_tx *trans, struct link_device *dev)
static void	send_ins_z (struct transport_tx *trans, struct link_device *dev)
static void	send_ins_ref (struct transport_tx *trans, struct link_device *dev)
void	ins_gps_passthrough_init (void)
static void	reset_ref (void)
static void	reset_vertical_ref (void)

Variables
struct InsGpsPassthrough	ins_gp
static abi_event	accel_ev
static abi_event	reset_ev
static abi_event	gps_ev

Detailed Description

Simply converts GPS ECEF position and velocity to NED and passes it through to the state interface.

Definition in file ins_gps_passthrough.c.

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Data Structure Documentation

InsGpsPassthrough

struct InsGpsPassthrough

Definition at line 49 of file ins_gps_passthrough.c.

Collaboration diagram for InsGpsPassthrough:

Data Fields
struct NedCoor_i	ltp_accel
struct LtpDef_i	ltp_def
bool	ltp_initialized
struct NedCoor_i	ltp_pos
struct NedCoor_i	ltp_speed

Macro Definition Documentation

INS_PT_GPS_ID

#define INS_PT_GPS_ID   GPS_MULTI_ID

ABI binding for gps data.

Used for GPS ABI messages.

Definition at line 77 of file ins_gps_passthrough.c.

INS_PT_IMU_ID

#define INS_PT_IMU_ID   ABI_BROADCAST

ABI bindings on ACCEL data.

Definition at line 64 of file ins_gps_passthrough.c.

USE_INS_NAV_INIT

#define USE_INS_NAV_INIT   TRUE

Definition at line 40 of file ins_gps_passthrough.c.

Function Documentation

accel_cb()

static void accel_cb ( uint8_t  sender_id, uint32_t  stamp, struct Int32Vect3 *  accel  )

static

Definition at line 216 of file ins_gps_passthrough.c.

References ACCEL_BFP_OF_REAL, foo, ins_gp, int32_rmat_transp_vmult(), InsGpsPassthrough::ltp_accel, stateGetNedToBodyRMat_i(), stateSetAccelBody_i(), stateSetAccelNed_i(), and VECT3_COPY.

Referenced by ins_gps_passthrough_init().

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gps_cb()

static void gps_cb ( uint8_t  sender_id, uint32_t stamp  , struct GpsState *  gps_s  )

static

Definition at line 82 of file ins_gps_passthrough.c.

References ecef_int_from_gps(), ecef_vel_int_from_gps(), foo, GPS_FIX_3D, ins_gp, INS_RESET_REF, INT32_POS_OF_CM_DEN, INT32_POS_OF_CM_NUM, INT32_SPEED_OF_CM_S_DEN, INT32_SPEED_OF_CM_S_NUM, INT32_VECT3_SCALE_2, InsGpsPassthrough::ltp_def, InsGpsPassthrough::ltp_initialized, InsGpsPassthrough::ltp_pos, InsGpsPassthrough::ltp_speed, ned_of_ecef_point_i(), ned_of_ecef_vect_i(), reset_cb(), stateSetPositionNed_i(), and stateSetSpeedNed_i().

Referenced by ins_gps_passthrough_init().

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ins_gps_passthrough_init()

void ins_gps_passthrough_init

(

void

)

Definition at line 141 of file ins_gps_passthrough.c.

References ABI_BROADCAST, accel_cb(), accel_ev, DefaultPeriodic, ecef_of_lla_i(), foo, gps_cb(), gps_ev, LtpDef_i::hmsl, ins_gp, INS_PT_GPS_ID, INS_PT_IMU_ID, INT32_VECT3_ZERO, LlaCoor_i::lat, InsGpsPassthrough::ltp_accel, InsGpsPassthrough::ltp_def, ltp_def_from_ecef_i(), InsGpsPassthrough::ltp_initialized, InsGpsPassthrough::ltp_pos, InsGpsPassthrough::ltp_speed, register_periodic_telemetry(), reset_cb(), reset_ev, send_ins(), send_ins_ref(), send_ins_z(), and stateSetLocalOrigin_i().

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reset_cb()

static void reset_cb ( uint8_t sender_id  UNUSED, uint8_t  flag  )

static

Definition at line 201 of file ins_gps_passthrough.c.

References foo, INS_RESET_REF, INS_RESET_VERTICAL_REF, reset_ref(), and reset_vertical_ref().

Referenced by gps_cb(), and ins_gps_passthrough_init().

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reset_ref()

static void reset_ref ( void  )

static

Definition at line 178 of file ins_gps_passthrough.c.

References LlaCoor_i::alt, ecef_int_from_gps(), foo, gps, LtpDef_i::hmsl, GpsState::hmsl, ins_gp, LtpDef_i::lla, lla_int_from_gps(), InsGpsPassthrough::ltp_def, ltp_def_from_ecef_i(), InsGpsPassthrough::ltp_initialized, and stateSetLocalOrigin_i().

Referenced by reset_cb().

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reset_vertical_ref()

static void reset_vertical_ref ( void  )

static

Definition at line 189 of file ins_gps_passthrough.c.

References LlaCoor_i::alt, foo, gps, LtpDef_i::hmsl, GpsState::hmsl, ins_gp, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, InsGpsPassthrough::ltp_def, ltp_def_from_lla_i(), stateGetLlaOrigin_i(), and stateSetLocalOrigin_i().

Referenced by reset_cb().

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send_ins()

static void send_ins ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 113 of file ins_gps_passthrough.c.

References dev, foo, ins_gp, InsGpsPassthrough::ltp_accel, InsGpsPassthrough::ltp_pos, InsGpsPassthrough::ltp_speed, NedCoor_i::x, NedCoor_i::y, and NedCoor_i::z.

Referenced by ins_gps_passthrough_init().

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send_ins_ref()

static void send_ins_ref ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 129 of file ins_gps_passthrough.c.

References LlaCoor_i::alt, dev, LtpDef_i::ecef, foo, LtpDef_i::hmsl, ins_gp, LlaCoor_i::lat, LtpDef_i::lla, LlaCoor_i::lon, InsGpsPassthrough::ltp_def, InsGpsPassthrough::ltp_initialized, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by ins_gps_passthrough_init().

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send_ins_z()

static void send_ins_z ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 121 of file ins_gps_passthrough.c.

References dev, foo, ins_gp, InsGpsPassthrough::ltp_accel, InsGpsPassthrough::ltp_pos, InsGpsPassthrough::ltp_speed, and NedCoor_i::z.

Referenced by ins_gps_passthrough_init().

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Variable Documentation

accel_ev

abi_event accel_ev

static

Definition at line 66 of file ins_gps_passthrough.c.

Referenced by ins_gps_passthrough_init().

gps_ev

abi_event gps_ev

static

Definition at line 80 of file ins_gps_passthrough.c.

Referenced by ins_gps_passthrough_init().

ins_gp

struct InsGpsPassthrough ins_gp

Definition at line 59 of file ins_gps_passthrough.c.

Referenced by accel_cb(), gps_cb(), ins_gps_passthrough_init(), reset_ref(), reset_vertical_ref(), send_ins(), send_ins_ref(), and send_ins_z().

reset_ev

abi_event reset_ev

static

Definition at line 70 of file ins_gps_passthrough.c.

Referenced by ins_gps_passthrough_init().