ins_gps_passthrough_utm.c File Reference

Simply passes GPS UTM position and velocity 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 "firmwares/fixedwing/nav.h"
#include "modules/core/abi.h"

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Macros
#define	INS_PT_GPS_ID   GPS_MULTI_ID
	ABI binding for gps data. More...

Functions
static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
static void	reset_cb (uint8_t sender_id, uint8_t flag)
void	ins_gps_passthrough_init (void)
static void	reset_ref (void)
static void	reset_vertical_ref (void)

Variables
static abi_event	gps_ev
static abi_event	reset_ev

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.

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 45 of file ins_gps_passthrough_utm.c.

Function Documentation

gps_cb()

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

static

Definition at line 50 of file ins_gps_passthrough_utm.c.

References nav_utm_zone0, ned_vel_float_from_gps(), stateSetPositionUtm_f(), stateSetSpeedNed_f(), and utm_float_from_gps().

Referenced by ins_gps_passthrough_init().

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ins_gps_passthrough_init()

void ins_gps_passthrough_init

(

void

)

Definition at line 68 of file ins_gps_passthrough_utm.c.

References ABI_BROADCAST, gps_cb(), gps_ev, INS_PT_GPS_ID, nav_utm_east0, nav_utm_north0, nav_utm_zone0, reset_cb(), reset_ev, stateSetLocalUtmOrigin_f(), and stateSetPositionUtm_f().

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reset_cb()

static void reset_cb ( uint8_t sender_id  UNUSED, uint8_t  flag  )

static

Definition at line 92 of file ins_gps_passthrough_utm.c.

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

Referenced by ins_gps_passthrough_init().

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reset_ref()

static void reset_ref ( void  )

static

Definition at line 78 of file ins_gps_passthrough_utm.c.

References gps, stateSetLocalUtmOrigin_f(), and utm_float_from_gps().

Referenced by reset_cb().

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reset_vertical_ref()

static void reset_vertical_ref ( void  )

static

Definition at line 85 of file ins_gps_passthrough_utm.c.

References UtmCoor_f::alt, gps, GpsState::hmsl, stateGetUtmOrigin_f(), and stateSetLocalUtmOrigin_f().

Referenced by reset_cb().

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Variable Documentation

gps_ev

abi_event gps_ev

static

Definition at line 48 of file ins_gps_passthrough_utm.c.

Referenced by ins_gps_passthrough_init().

reset_ev

abi_event reset_ev

static

Definition at line 64 of file ins_gps_passthrough_utm.c.

Referenced by ins_gps_passthrough_init().