Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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ins_gps_passthrough.c File Reference

Simply passes GPS position and velocity through to the state interface. More...

#include "subsystems/ins.h"
#include <inttypes.h>
#include <math.h>
#include "state.h"
#include "subsystems/gps.h"
#include "subsystems/nav.h"
+ Include dependency graph for ins_gps_passthrough.c:

Go to the source code of this file.

Functions

void ins_init ()
 INS initialization. More...
 
void ins_periodic (void)
 INS periodic call. More...
 
void ins_update_gps (void)
 Update INS state with GPS measurements. More...
 
void ins_propagate ()
 Propagation. More...
 
void ins_update_baro ()
 Update INS state with barometer measurements. More...
 
void ins_update_sonar ()
 Update INS state with sonar measurements. More...
 
void ins_realign_h (struct FloatVect2 pos, struct FloatVect2 speed)
 INS horizontal realign. More...
 
void ins_realign_v (float z)
 INS vertical realign. More...
 

Detailed Description

Simply passes GPS position and velocity through to the state interface.

Definition in file ins_gps_passthrough.c.

Function Documentation

void ins_init ( void  )

INS initialization.

Called at startup. Needs to be implemented by each INS algorithm.

Definition at line 37 of file ins_gps_passthrough.c.

References nav_utm_east0, nav_utm_north0, nav_utm_zone0, stateSetLocalUtmOrigin_f(), and stateSetPositionUtm_f().

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void ins_periodic ( void  )

INS periodic call.

Needs to be implemented by each INS algorithm.

Definition at line 43 of file ins_gps_passthrough.c.

void ins_propagate ( void  )

Propagation.

Usually integrates the gyro rates to angles. Reads the global imu data struct. Needs to be implemented by each INS algorithm.

Definition at line 66 of file ins_gps_passthrough.c.

void ins_realign_h ( struct FloatVect2  pos,
struct FloatVect2  speed 
)

INS horizontal realign.

Parameters
posnew horizontal position to set
speednew horizontal speed to set Needs to be implemented by each INS algorithm.

Definition at line 75 of file ins_gps_passthrough.c.

void ins_realign_v ( float  z)

INS vertical realign.

Parameters
znew altitude to set Needs to be implemented by each INS algorithm.

Definition at line 78 of file ins_gps_passthrough.c.

void ins_update_baro ( void  )

Update INS state with barometer measurements.

Reads the global baro data struct. Needs to be implemented by each INS algorithm.

Definition at line 69 of file ins_gps_passthrough.c.

void ins_update_gps ( void  )

Update INS state with GPS measurements.

Reads the global gps data struct. Needs to be implemented by each INS algorithm.

Definition at line 46 of file ins_gps_passthrough.c.

References UtmCoor_f::alt, UtmCoor_f::east, UtmCoor_i::east, gps, GpsState::hmsl, nav_utm_zone0, GpsState::ned_vel, UtmCoor_f::north, UtmCoor_i::north, stateSetPositionUtm_f(), stateSetSpeedNed_f(), GpsState::utm_pos, NedCoor_i::x, NedCoor_i::y, NedCoor_i::z, and UtmCoor_f::zone.

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void ins_update_sonar ( void  )

Update INS state with sonar measurements.

Reads the global #sonar data struct. Needs to be implemented by each INS algorithm.

Definition at line 72 of file ins_gps_passthrough.c.