Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
ins_gps_passthrough_utm.c File Reference

Simply passes GPS UTM 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 "firmwares/fixedwing/nav.h"
+ Include dependency graph for ins_gps_passthrough_utm.c:

Go to the source code of this file.

Functions

void ins_init (void)
 INS initialization. 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...
 

Detailed Description

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

For fixedwing firmware since it sets UTM pos only.

Definition in file ins_gps_passthrough_utm.c.

Function Documentation

void ins_init ( void  )

INS initialization.

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

Definition at line 38 of file ins_gps_passthrough_utm.c.

References ins, INS_RUNNING, nav_utm_east0, nav_utm_north0, nav_utm_zone0, stateSetLocalUtmOrigin_f(), stateSetPositionUtm_f(), and Ins::status.

+ Here is the call graph for this function:

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 65 of file ins_gps_passthrough_utm.c.

References UtmCoor_f::alt, gps, GpsState::hmsl, state, stateSetLocalUtmOrigin_f(), and State::utm_origin_f.

+ Here is the call graph for this function:

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 46 of file ins_gps_passthrough_utm.c.

References UtmCoor_f::alt, UtmCoor_f::east, UtmCoor_i::east, gps, GpsState::hmsl, LLA_FLOAT_OF_BFP, GpsState::lla_pos, LlaCoor_i::lon, UtmCoor_f::north, UtmCoor_i::north, stateSetLocalUtmOrigin_f(), utm_of_lla_f(), GpsState::utm_pos, UtmCoor_f::zone, and UtmCoor_i::zone.

+ Here is the call graph for this function:

void ins_update_gps ( void  )

Update INS state with GPS measurements.

Reads the global gps data struct. Does nothing if not implemented by specific INS algorithm.

Definition at line 71 of file ins_gps_passthrough_utm.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.

+ Here is the call graph for this function: