Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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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 "subsystems/ins.h"
#include <inttypes.h>
#include <math.h>
#include "state.h"
#include "subsystems/gps.h"
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Data Structures

struct  InsGpsPassthrough
 

Macros

#define USE_INS_NAV_INIT   TRUE
 

Functions

void ins_init (void)
 INS initialization. More...
 
void ins_periodic (void)
 INS periodic call. More...
 
void ins_reset_local_origin (void)
 INS local origin reset. More...
 
void ins_reset_altitude_ref (void)
 INS altitude reference reset. More...
 
void ins_update_gps (void)
 Update INS state with GPS measurements. More...
 

Variables

struct InsGpsPassthrough ins_impl
 global INS state More...
 

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.

Macro Definition Documentation

#define USE_INS_NAV_INIT   TRUE

Definition at line 38 of file ins_gps_passthrough.c.

Function Documentation

void ins_init ( void  )
void ins_periodic ( void  )

INS periodic call.

Does nothing if not implemented by specific INS algorithm.

Definition at line 117 of file ins_gps_passthrough.c.

References ins, ins_impl, INS_RUNNING, InsGpsPassthrough::ltp_initialized, and Ins::status.

void ins_reset_altitude_ref ( void  )

INS altitude reference reset.

Reset only vertical reference to the current altitude. Does nothing if not implemented by specific INS algorithm.

Definition at line 131 of file ins_gps_passthrough.c.

References LlaCoor_i::alt, gps, GpsState::hmsl, LtpDef_i::hmsl, ins_impl, LlaCoor_i::lat, LtpDef_i::lla, GpsState::lla_pos, LlaCoor_i::lon, InsGpsPassthrough::ltp_def, ltp_def_from_lla_i(), State::ned_origin_i, state, and stateSetLocalOrigin_i().

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void ins_reset_local_origin ( void  )

INS local origin reset.

Reset horizontal and vertical reference to the current position. Does nothing if not implemented by specific INS algorithm.

INS local origin reset.

Definition at line 123 of file ins_gps_passthrough.c.

References LlaCoor_i::alt, GpsState::ecef_pos, gps, GpsState::hmsl, LtpDef_i::hmsl, ins_impl, LtpDef_i::lla, GpsState::lla_pos, InsGpsPassthrough::ltp_def, ltp_def_from_ecef_i(), InsGpsPassthrough::ltp_initialized, stateSetLocalOrigin_i(), and TRUE.

Referenced by ins_update_gps().

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void ins_update_gps ( void  )

Variable Documentation

struct InsGpsPassthrough ins_impl

global INS state

Definition at line 56 of file ins_gps_passthrough.c.

Referenced by ins_init(), ins_periodic(), ins_reset_altitude_ref(), ins_reset_local_origin(), and ins_update_gps().