ins.c

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/*
 * Copyright (C) 2008-2012 The Paparazzi Team
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
#include "modules/ins/ins.h"
 
#include "generated/flight_plan.h"
 
 
void ins_init_origin_i_from_flightplan(uint16_t id, struct LtpDef_i *ltp_def)
{
  struct LlaCoor_i llh_nav0; /* Height above the ellipsoid */
  llh_nav0.lat = NAV_LAT0;
  llh_nav0.lon = NAV_LON0;
  /* NAV_ALT0 = ground alt above msl, NAV_MSL0 = geoid-height (msl) over ellipsoid */
  llh_nav0.alt = NAV_ALT0 + NAV_MSL0;
 
  ltp_def_from_lla_i(ltp_def, &llh_nav0);
  ltp_def->hmsl = NAV_ALT0;
  stateSetLocalOrigin_i(id, ltp_def);
}