Collaboration diagram for Position representations:

Macros
#define	POS_ECEF_I 0

#define	POS_NED_I 1

#define	POS_ENU_I 2

#define	POS_LLA_I 3

#define	POS_UTM_I 4

#define	POS_ECEF_F 5

#define	POS_NED_F 6

#define	POS_ENU_F 7

#define	POS_LLA_F 8

#define	POS_UTM_F 9

#define	POS_LOCAL_COORD ((1<<POS_NED_I)\|(1<<POS_NED_F)\|(1<<POS_ENU_I)\|(1<<POS_ENU_F))

#define	POS_GLOBAL_COORD ((1<<POS_ECEF_I)\|(1<<POS_ECEF_F)\|(1<<POS_LLA_I)\|(1<<POS_LLA_F)\|(1<<POS_UTM_I)\|(1<<POS_UTM_F))

Functions
void	stateCalcPositionEcef_i (void)

void	stateCalcPositionNed_i (void)

void	stateCalcPositionEnu_i (void)

void	stateCalcPositionLla_i (void)
	Calculate LLA (int) from any other available representation. More...

void	stateCalcPositionUtm_f (void)

void	stateCalcPositionEcef_f (void)

void	stateCalcPositionNed_f (void)

void	stateCalcPositionEnu_f (void)

void	stateCalcPositionLla_f (void)

static void	stateSetLocalOrigin_i (struct LtpDef_i *ltp_def)
	Set the local (flat earth) coordinate frame origin (int). More...

static void	stateSetLocalUtmOrigin_f (struct UtmCoor_f *utm_def)
	Set the local (flat earth) coordinate frame origin from UTM (float). More...

static bool	stateIsLocalCoordinateValid (void)
	Test if local coordinates are valid. More...

static bool	stateIsGlobalCoordinateValid (void)
	Test if global coordinates are valid. More...

static void	stateSetPositionEcef_i (struct EcefCoor_i *ecef_pos)
	Set position from ECEF coordinates (int). More...

static void	stateSetPositionNed_i (struct NedCoor_i *ned_pos)
	Set position from local NED coordinates (int). More...

static void	stateSetPositionEnu_i (struct EnuCoor_i *enu_pos)
	Set position from local ENU coordinates (int). More...

static void	stateSetPositionLla_i (struct LlaCoor_i *lla_pos)
	Set position from LLA coordinates (int). More...

static void	stateSetPosition_i (struct EcefCoor_i ecef_pos, struct NedCoor_i ned_pos, struct EnuCoor_i enu_pos, struct LlaCoor_i lla_pos)
	Set multiple position coordinates (int). More...

static void	stateSetPositionUtm_f (struct UtmCoor_f *utm_pos)
	Set position from UTM coordinates (float). More...

static void	stateSetPositionEcef_f (struct EcefCoor_f *ecef_pos)
	Set position from ECEF coordinates (float). More...

static void	stateSetPositionNed_f (struct NedCoor_f *ned_pos)
	Set position from local NED coordinates (float). More...

static void	stateSetPositionEnu_f (struct EnuCoor_f *enu_pos)
	Set position from local ENU coordinates (float). More...

static void	stateSetPositionLla_f (struct LlaCoor_f *lla_pos)
	Set position from LLA coordinates (float). More...

static void	stateSetPosition_f (struct EcefCoor_f ecef_pos, struct NedCoor_f ned_pos, struct EnuCoor_f enu_pos, struct LlaCoor_f lla_pos, struct UtmCoor_f *utm_pos)
	Set multiple position coordinates (float). More...

static struct EcefCoor_i *	stateGetPositionEcef_i (void)
	Get position in ECEF coordinates (int). More...

static struct NedCoor_i *	stateGetPositionNed_i (void)
	Get position in local NED coordinates (int). More...

static struct EnuCoor_i *	stateGetPositionEnu_i (void)
	Get position in local ENU coordinates (int). More...

static struct LlaCoor_i *	stateGetPositionLla_i (void)
	Get position in LLA coordinates (int). More...

static struct UtmCoor_f *	stateGetPositionUtm_f (void)
	Get position in UTM coordinates (float). More...

static struct EcefCoor_f *	stateGetPositionEcef_f (void)
	Get position in ECEF coordinates (float). More...

static struct NedCoor_f *	stateGetPositionNed_f (void)
	Get position in local NED coordinates (float). More...

static struct EnuCoor_f *	stateGetPositionEnu_f (void)
	Get position in local ENU coordinates (float). More...

static struct LlaCoor_f *	stateGetPositionLla_f (void)
	Get position in LLA coordinates (float). More...

Variables
uint16_t	State::pos_status
	Holds the status bits for all position representations. More...

struct EcefCoor_i	State::ecef_pos_i
	Position in EarthCenteredEarthFixed coordinates. More...

struct LlaCoor_i	State::lla_pos_i
	Position in Latitude, Longitude and Altitude. More...

struct LtpDef_i	State::ned_origin_i
	Definition of the local (flat earth) coordinate system. More...

bool	State::ned_initialized_i
	true if local int coordinate frame is initialsed More...

struct NedCoor_i	State::ned_pos_i
	Position in North East Down coordinates. More...

struct EnuCoor_i	State::enu_pos_i
	Position in East North Up coordinates. More...

struct UtmCoor_f	State::utm_pos_f
	Position in UTM coordinates. More...

float	State::alt_agl_f
	Altitude above ground level. More...

struct LlaCoor_f	State::lla_pos_f
	Position in Latitude, Longitude and Altitude. More...

struct EcefCoor_f	State::ecef_pos_f
	Position in EarthCenteredEarthFixed coordinates. More...

struct LtpDef_f	State::ned_origin_f
	Definition of the local (flat earth) coordinate system. More...

bool	State::ned_initialized_f
	True if local float coordinate frame is initialsed. More...

struct UtmCoor_f	State::utm_origin_f
	Definition of the origin of Utm coordinate system. More...

bool	State::utm_initialized_f
	True if utm origin (float) coordinate frame is initialsed. More...

struct NedCoor_f	State::ned_pos_f
	Position in North East Down coordinates. More...

struct EnuCoor_f	State::enu_pos_f
	Position in East North Up coordinates. More...

Detailed Description

Macro Definition Documentation

#define POS_ECEF_F 5

Definition at line 72 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateGetPositionEcef_f(), stateSetPosition_f(), and stateSetPositionEcef_f().

#define POS_ECEF_I 0

Definition at line 67 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateGetPositionEcef_i(), stateSetPosition_i(), and stateSetPositionEcef_i().

#define POS_ENU_F 7

Definition at line 74 of file state.h.

Referenced by stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionEnu_f(), stateSetPosition_f(), and stateSetPositionEnu_f().

#define POS_ENU_I 2

Definition at line 69 of file state.h.

Referenced by stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionEnu_i(), stateSetPosition_i(), and stateSetPositionEnu_i().

Definition at line 78 of file state.h.

Referenced by stateIsGlobalCoordinateValid().

#define POS_LLA_F 8

Definition at line 75 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionLla_f(), stateSetPosition_f(), and stateSetPositionLla_f().

#define POS_LLA_I 3

Definition at line 70 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionLla_i(), stateSetPosition_i(), and stateSetPositionLla_i().

#define POS_LOCAL_COORD ((1<<POS_NED_I)|(1<<POS_NED_F)|(1<<POS_ENU_I)|(1<<POS_ENU_F))

Definition at line 77 of file state.h.

Referenced by stateIsLocalCoordinateValid(), and stateSetLocalUtmOrigin_f().

#define POS_NED_F 6

Definition at line 73 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionNed_f(), stateSetPosition_f(), and stateSetPositionNed_f().

#define POS_NED_I 1

Definition at line 68 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionNed_i(), stateSetPosition_i(), and stateSetPositionNed_i().

#define POS_UTM_F 9

Definition at line 76 of file state.h.

Referenced by stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionUtm_f(), stateSetPosition_f(), and stateSetPositionUtm_f().

#define POS_UTM_I 4

Definition at line 71 of file state.h.

Function Documentation

void stateCalcPositionEcef_f ( void )

Definition at line 352 of file state.c.

References ECEF_FLOAT_OF_BFP, ecef_of_lla_f(), ecef_of_ned_point_f(), ecef_of_ned_pos_i(), State::ecef_pos_f, State::ecef_pos_i, LLA_FLOAT_OF_BFP, State::lla_pos_f, State::lla_pos_i, State::ned_initialized_f, State::ned_initialized_i, State::ned_origin_f, State::ned_origin_i, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, and state.

Referenced by stateGetPositionEcef_f().

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void stateCalcPositionEcef_i ( void )

Definition at line 68 of file state.c.

References ECEF_BFP_OF_REAL, ecef_of_lla_f(), ecef_of_lla_i(), ecef_of_ned_point_f(), ecef_of_ned_pos_i(), State::ecef_pos_f, State::ecef_pos_i, State::lla_pos_f, State::lla_pos_i, State::ned_initialized_f, State::ned_initialized_i, State::ned_origin_f, State::ned_origin_i, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, and state.

Referenced by stateGetPositionEcef_i().

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void stateCalcPositionEnu_f ( void )

Definition at line 448 of file state.c.

References ecef_of_lla_i(), State::ecef_pos_f, State::ecef_pos_i, ENU_FLOAT_OF_BFP, enu_of_ecef_point_f(), enu_of_ecef_pos_i(), enu_of_lla_point_f(), ENU_OF_UTM_DIFF, State::enu_pos_f, State::enu_pos_i, LLA_FLOAT_OF_BFP, State::lla_pos_f, State::lla_pos_i, NED_FLOAT_OF_BFP, State::ned_initialized_f, State::ned_origin_f, State::ned_origin_i, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_ENU_F, POS_ENU_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, POS_UTM_F, state, State::utm_initialized_f, utm_of_lla_f(), State::utm_origin_f, State::utm_pos_f, and VECT3_ENU_OF_NED.

Referenced by stateGetPositionEnu_f().

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void stateCalcPositionEnu_i ( void )

Definition at line 178 of file state.c.

References ecef_of_lla_f(), State::ecef_pos_f, State::ecef_pos_i, ENU_BFP_OF_REAL, enu_of_ecef_point_f(), enu_of_ecef_pos_i(), enu_of_lla_pos_i(), ENU_OF_UTM_DIFF, State::enu_pos_f, State::enu_pos_i, INT32_VECT3_ENU_OF_NED, LLA_FLOAT_OF_BFP, State::lla_pos_f, State::lla_pos_i, NED_BFP_OF_REAL, State::ned_initialized_i, State::ned_origin_f, State::ned_origin_i, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_ENU_F, POS_ENU_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, POS_UTM_F, state, State::utm_initialized_f, utm_of_lla_f(), State::utm_origin_f, and State::utm_pos_f.

Referenced by stateGetPositionEnu_i().

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void stateCalcPositionLla_f ( void )

Definition at line 520 of file state.c.

References ECEF_FLOAT_OF_BFP, ecef_of_ned_point_f(), State::ecef_pos_f, State::ecef_pos_i, LLA_FLOAT_OF_BFP, lla_of_ecef_f(), lla_of_utm_f(), State::lla_pos_f, NED_FLOAT_OF_BFP, State::ned_initialized_f, State::ned_origin_f, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, POS_UTM_F, state, and State::utm_pos_f.

Referenced by stateGetPositionLla_f().

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void stateCalcPositionLla_i ( void )

Calculate LLA (int) from any other available representation.

Note that since LLA in float has bad precision this is the last choice. So we mostly first convert to ECEF and then use lla_of_ecef_i which provides higher precision but is currently using the double function internally.

Definition at line 263 of file state.c.

References ECEF_BFP_OF_REAL, ecef_of_enu_pos_i(), ecef_of_ned_pos_i(), State::ecef_pos_f, State::ecef_pos_i, ENU_BFP_OF_REAL, State::enu_pos_f, State::enu_pos_i, LLA_BFP_OF_REAL, lla_of_ecef_i(), lla_of_utm_f(), State::lla_pos_f, State::lla_pos_i, NED_BFP_OF_REAL, State::ned_initialized_i, State::ned_origin_i, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_ENU_F, POS_ENU_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, POS_UTM_F, state, and State::utm_pos_f.

Referenced by stateGetPositionLla_i().

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void stateCalcPositionNed_f ( void )

Definition at line 382 of file state.c.

References ecef_of_lla_i(), State::ecef_pos_f, State::ecef_pos_i, ENU_FLOAT_OF_BFP, State::enu_pos_f, State::enu_pos_i, LLA_FLOAT_OF_BFP, State::lla_pos_f, State::lla_pos_i, NED_FLOAT_OF_BFP, State::ned_initialized_f, ned_of_ecef_point_f(), ned_of_ecef_pos_i(), ned_of_lla_point_f(), NED_OF_UTM_DIFF, State::ned_origin_f, State::ned_origin_i, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_ENU_F, POS_ENU_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, POS_UTM_F, state, State::utm_initialized_f, utm_of_lla_f(), State::utm_origin_f, State::utm_pos_f, and VECT3_NED_OF_ENU.

Referenced by stateGetPositionNed_f().

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void stateCalcPositionNed_i ( void )

Definition at line 99 of file state.c.

References ecef_of_lla_f(), State::ecef_pos_f, State::ecef_pos_i, ENU_BFP_OF_REAL, State::enu_pos_f, State::enu_pos_i, INT32_VECT3_NED_OF_ENU, LLA_FLOAT_OF_BFP, State::lla_pos_f, State::lla_pos_i, NED_BFP_OF_REAL, State::ned_initialized_i, ned_of_ecef_point_f(), ned_of_ecef_pos_i(), ned_of_lla_pos_i(), NED_OF_UTM_DIFF, State::ned_origin_f, State::ned_origin_i, State::ned_pos_f, State::ned_pos_i, POS_ECEF_F, POS_ECEF_I, POS_ENU_F, POS_ENU_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, POS_UTM_F, state, State::utm_initialized_f, utm_of_lla_f(), State::utm_origin_f, and State::utm_pos_f.

Referenced by stateGetPositionNed_i().

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void stateCalcPositionUtm_f ( void )

Definition at line 316 of file state.c.

References ENU_FLOAT_OF_BFP, State::enu_pos_f, State::enu_pos_i, LLA_FLOAT_OF_BFP, State::lla_pos_f, State::lla_pos_i, NED_FLOAT_OF_BFP, State::ned_pos_f, State::ned_pos_i, POS_ENU_F, POS_ENU_I, POS_LLA_F, POS_LLA_I, POS_NED_F, POS_NED_I, State::pos_status, POS_UTM_F, state, State::utm_initialized_f, UTM_OF_ENU_ADD, utm_of_lla_f(), UTM_OF_NED_ADD, State::utm_origin_f, and State::utm_pos_f.

Referenced by stateGetPositionUtm_f().

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static struct EcefCoor_f* stateGetPositionEcef_f ( void )

static

Get position in ECEF coordinates (float).

Definition at line 695 of file state.h.

References State::ecef_pos_f, POS_ECEF_F, State::pos_status, state, and stateCalcPositionEcef_f().

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static struct EcefCoor_i* stateGetPositionEcef_i ( void )

static

Get position in ECEF coordinates (int).

Definition at line 650 of file state.h.

References State::ecef_pos_i, POS_ECEF_I, State::pos_status, state, and stateCalcPositionEcef_i().

Referenced by ins_vectornav_propagate().

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static struct EnuCoor_f* stateGetPositionEnu_f ( void )

static

Get position in local ENU coordinates (float).

Definition at line 713 of file state.h.

References State::enu_pos_f, POS_ENU_F, State::pos_status, state, and stateCalcPositionEnu_f().

Referenced by cam_nadir(), cam_target(), compute_dist2_to_home(), compute_points_from_bungee(), dc_periodic(), dc_survey(), flight_benchmark_periodic(), fly_to_xy(), formation_flight(), formation_pre_call(), get_dist2_to_point(), gls_run(), hackhd_autoshoot(), hackhd_command(), last_plume_was_here(), nav_anemotaxis(), nav_anemotaxis_init(), nav_approaching_xy(), nav_bungee_takeoff_run(), nav_catapult_run(), nav_chemotaxis(), nav_circle_XY(), nav_flower_run(), nav_flower_setup(), nav_init_stage(), nav_launcher_run(), nav_launcher_setup(), nav_line_osam_run(), nav_route_xy(), nav_set_heading_towards(), nav_skid_landing_glide(), nav_spiral_run(), nav_spiral_setup(), nav_survey_disc_run(), nav_survey_disc_setup(), nav_survey_losange_carto(), nav_survey_poly_osam_run(), nav_survey_poly_run(), nav_survey_rectangle(), nav_survey_rectangle_init(), nav_survey_rectangle_rotorcraft_run(), nav_survey_rectangle_rotorcraft_setup(), potential_task(), snav_init(), snav_on_time(), sonar_adc_read(), sonar_bebop_read(), stereo_avoid_run(), tcas_periodic_task_1Hz(), and tcas_test_direction().

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static struct EnuCoor_i* stateGetPositionEnu_i ( void )

static

Get position in local ENU coordinates (int).

Definition at line 668 of file state.h.

References State::enu_pos_i, POS_ENU_I, State::pos_status, state, and stateCalcPositionEnu_i().

Referenced by follow_wp(), hott_update_eam_msg(), moveWaypointForwards(), nav_advance_carrot(), nav_approaching_from(), nav_check_wp_time(), nav_circle(), nav_init_stage(), nav_route(), rotorcraft_cam_periodic(), run_avoid_navigation_onvision(), send_fp(), waypoint_set_here(), and waypoint_set_here_2d().

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static struct LlaCoor_f* stateGetPositionLla_f ( void )

static

Get position in LLA coordinates (float).

Definition at line 722 of file state.h.

References State::lla_pos_f, POS_LLA_F, State::pos_status, state, and stateCalcPositionLla_f().

Referenced by air_data_get_amsl(), mavlink_send_vfr_hud(), mf_daq_send_state(), parse_mf_daq_msg(), pressure_abs_cb(), and send_amsl().

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static struct LlaCoor_i* stateGetPositionLla_i ( void )

static

Get position in LLA coordinates (int).

Definition at line 677 of file state.h.

References State::lla_pos_i, POS_LLA_I, State::pos_status, state, and stateCalcPositionLla_i().

Referenced by dc_info(), dc_send_command(), dc_send_shot_position(), mavlink_send_global_position_int(), push_gps_to_vision(), waypoint_set_here(), and waypoint_set_here_2d().

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static struct NedCoor_f* stateGetPositionNed_f ( void )

static

Get position in local NED coordinates (float).

Definition at line 704 of file state.h.

References State::ned_pos_f, POS_NED_F, State::pos_status, state, and stateCalcPositionNed_f().

Referenced by autopilot_guided_goto_body_relative(), autopilot_guided_goto_ned_relative(), autopilot_guided_update(), CN_calculate_target(), guidance_indi_run(), and mavlink_send_local_position_ned().

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static struct NedCoor_i* stateGetPositionNed_i ( void )

static

Get position in local NED coordinates (int).

Definition at line 659 of file state.h.

References State::ned_pos_i, POS_NED_I, State::pos_status, state, and stateCalcPositionNed_i().

Referenced by georeference_project(), guidance_h_hover_enter(), guidance_h_traj_run(), guidance_hybrid_position_to_airspeed(), guidance_indi_run(), guidance_v_mode_changed(), guidance_v_run(), ins_vectornav_propagate(), reset_guidance_reference_from_current_position(), run_hover_loop(), save_shot_on_disk(), send_gh(), send_hover_loop(), send_hybrid_guidance(), send_tune_vert(), and send_vert_loop().

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static struct UtmCoor_f* stateGetPositionUtm_f ( void )

static

Get position in UTM coordinates (float).

Definition at line 686 of file state.h.

References State::pos_status, POS_UTM_F, state, stateCalcPositionUtm_f(), and State::utm_pos_f.

Referenced by cam_target(), flight_benchmark_periodic(), ins_alt_float_update_baro(), mf_daq_send_report(), nav_bungee_takeoff_run(), nav_catapult_run(), nav_launcher_run(), nav_launcher_setup(), nav_skid_landing_glide(), nav_skid_landing_run(), nav_skid_landing_setup(), nav_spiral_run(), nav_spiral_setup(), nav_survey_poly_osam_run(), nav_survey_polygon_run(), nav_vertical_raster_run(), send_estimator(), tcas_periodic_task_1Hz(), tcas_periodic_task_4Hz(), v_ctl_altitude_loop(), v_ctl_landing_loop(), and vPoint().

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static bool stateIsGlobalCoordinateValid ( void )

inlinestatic

Test if global coordinates are valid.

Definition at line 509 of file state.h.

References POS_GLOBAL_COORD, State::pos_status, state, and stateIsLocalCoordinateValid().

Referenced by pressure_abs_cb().

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static bool stateIsLocalCoordinateValid ( void )

inlinestatic

Test if local coordinates are valid.

Definition at line 502 of file state.h.

References State::ned_initialized_f, State::ned_initialized_i, POS_LOCAL_COORD, State::pos_status, state, and State::utm_initialized_f.

Referenced by autopilot_guided_goto_body_relative(), autopilot_guided_goto_ned_relative(), autopilot_guided_update(), firmware_parse_msg(), and stateIsGlobalCoordinateValid().

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static void stateSetLocalOrigin_i ( struct LtpDef_i * ltp_def )

inlinestatic

Set the local (flat earth) coordinate frame origin (int).

Definition at line 451 of file state.h.

Referenced by ins_float_invariant_init(), ins_gps_passthrough_init(), ins_init_origin_i_from_flightplan(), ins_reset_altitude_ref(), and ins_reset_local_origin().

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static void stateSetLocalUtmOrigin_f ( struct UtmCoor_f * utm_def )

inlinestatic

Set the local (flat earth) coordinate frame origin from UTM (float).

Definition at line 471 of file state.h.

References ACCEL_NED_F, ACCEL_NED_I, State::accel_status, POS_LOCAL_COORD, State::pos_status, SPEED_LOCAL_COORD, State::speed_status, state, State::utm_initialized_f, and State::utm_origin_f.

Referenced by ins_alt_float_init(), ins_float_invariant_init(), ins_gps_passthrough_init(), ins_reset_altitude_ref(), ins_reset_local_origin(), ins_reset_utm_zone(), ins_xsens700_init(), and ins_xsens_init().

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static void stateSetPosition_f	(	struct EcefCoor_f *	ecef_pos,
		struct NedCoor_f *	ned_pos,
		struct EnuCoor_f *	enu_pos,
		struct LlaCoor_f *	lla_pos,
		struct UtmCoor_f *	utm_pos
	)

inlinestatic

Set multiple position coordinates (float).

Definition at line 616 of file state.h.

References State::ecef_pos_f, State::enu_pos_f, LLA_COPY, State::lla_pos_f, State::ned_pos_f, POS_ECEF_F, POS_ENU_F, POS_LLA_F, POS_NED_F, State::pos_status, POS_UTM_F, state, State::utm_pos_f, and VECT3_COPY.

static void stateSetPosition_i	(	struct EcefCoor_i *	ecef_pos,
		struct NedCoor_i *	ned_pos,
		struct EnuCoor_i *	enu_pos,
		struct LlaCoor_i *	lla_pos
	)

inlinestatic

Set multiple position coordinates (int).

Definition at line 549 of file state.h.

References State::ecef_pos_i, State::enu_pos_i, LLA_COPY, State::lla_pos_i, State::ned_pos_i, POS_ECEF_I, POS_ENU_I, POS_LLA_I, POS_NED_I, State::pos_status, state, and VECT3_COPY.

static void stateSetPositionEcef_f ( struct EcefCoor_f * ecef_pos )

inlinestatic

Set position from ECEF coordinates (float).

Definition at line 584 of file state.h.

References State::ecef_pos_f, POS_ECEF_F, State::pos_status, state, and VECT3_COPY.

static void stateSetPositionEcef_i ( struct EcefCoor_i * ecef_pos )

inlinestatic

Set position from ECEF coordinates (int).

Definition at line 517 of file state.h.

References State::ecef_pos_i, POS_ECEF_I, State::pos_status, state, and VECT3_COPY.

static void stateSetPositionEnu_f ( struct EnuCoor_f * enu_pos )

inlinestatic

Set position from local ENU coordinates (float).

Definition at line 600 of file state.h.

References State::enu_pos_f, POS_ENU_F, State::pos_status, state, and VECT3_COPY.

static void stateSetPositionEnu_i ( struct EnuCoor_i * enu_pos )

inlinestatic

Set position from local ENU coordinates (int).

Definition at line 533 of file state.h.

References State::enu_pos_i, POS_ENU_I, State::pos_status, state, and VECT3_COPY.

static void stateSetPositionLla_f ( struct LlaCoor_f * lla_pos )

inlinestatic

Set position from LLA coordinates (float).

Definition at line 608 of file state.h.

References LLA_COPY, State::lla_pos_f, POS_LLA_F, State::pos_status, and state.

static void stateSetPositionLla_i ( struct LlaCoor_i * lla_pos )

inlinestatic

Set position from LLA coordinates (int).

Definition at line 541 of file state.h.

References LLA_COPY, State::lla_pos_i, POS_LLA_I, State::pos_status, and state.

Referenced by ins_vectornav_propagate().

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static void stateSetPositionNed_f ( struct NedCoor_f * ned_pos )

inlinestatic

Set position from local NED coordinates (float).

Definition at line 592 of file state.h.

References State::ned_pos_f, POS_NED_F, State::pos_status, state, and VECT3_COPY.

Referenced by ins_float_invariant_propagate(), and sim_overwrite_ins().

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static void stateSetPositionNed_i ( struct NedCoor_i * ned_pos )

inlinestatic

Set position from local NED coordinates (int).

Definition at line 525 of file state.h.

References State::ned_pos_i, POS_NED_I, State::pos_status, state, and VECT3_COPY.

Referenced by gps_cb(), and ins_ned_to_state().

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static void stateSetPositionUtm_f ( struct UtmCoor_f * utm_pos )

inlinestatic

Set position from UTM coordinates (float).

Definition at line 576 of file state.h.

References State::pos_status, POS_UTM_F, state, and State::utm_pos_f.

Referenced by gps_cb(), ins_alt_float_init(), ins_alt_float_update_baro(), ins_alt_float_update_gps(), ins_float_invariant_init(), ins_gps_passthrough_init(), ins_xsens700_init(), ins_xsens_init(), and sim_overwrite_ins().

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Variable Documentation

float State::alt_agl_f

Altitude above ground level.

Unit: meters

Definition at line 198 of file state.h.

Referenced by dc_send_command(), and write_serial_rot().

struct EcefCoor_f State::ecef_pos_f

Position in EarthCenteredEarthFixed coordinates.

Units: meters

Definition at line 211 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateGetPositionEcef_f(), stateSetPosition_f(), and stateSetPositionEcef_f().

struct EcefCoor_i State::ecef_pos_i

Position in EarthCenteredEarthFixed coordinates.

Units: centimeters

Definition at line 150 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateGetPositionEcef_i(), stateSetPosition_i(), and stateSetPositionEcef_i().

struct EnuCoor_f State::enu_pos_f

Position in East North Up coordinates.

with respect to ned_origin_i (flat earth) Units: meters

Definition at line 250 of file state.h.

Referenced by stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionEnu_f(), stateSetPosition_f(), and stateSetPositionEnu_f().

struct EnuCoor_i State::enu_pos_i

Position in East North Up coordinates.

with respect to ned_origin_i (flat earth) Units: m in BFP with INT32_POS_FRAC

Definition at line 185 of file state.h.

Referenced by stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionEnu_i(), stateSetPosition_i(), and stateSetPositionEnu_i().

struct LlaCoor_f State::lla_pos_f

Position in Latitude, Longitude and Altitude.

Units lat,lon: radians Units alt: meters above reference ellipsoid

Definition at line 205 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionLla_f(), stateSetPosition_f(), and stateSetPositionLla_f().

struct LlaCoor_i State::lla_pos_i

Position in Latitude, Longitude and Altitude.

Units lat,lon: degrees*1e7 Units alt: milimeters above reference ellipsoid

Definition at line 157 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionLla_i(), stateSetPosition_i(), and stateSetPositionLla_i().

bool State::ned_initialized_f

True if local float coordinate frame is initialsed.

Definition at line 223 of file state.h.

Referenced by error_output(), ins_float_invariant_update_gps(), pressure_abs_cb(), sim_overwrite_ins(), stateCalcAccelEcef_f(), stateCalcAccelNed_f(), stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionLla_f(), stateCalcPositionNed_f(), stateCalcSpeedEnu_f(), stateCalcSpeedNed_f(), stateInit(), and stateIsLocalCoordinateValid().

bool State::ned_initialized_i

true if local int coordinate frame is initialsed

Definition at line 171 of file state.h.

Referenced by acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), gps_sim_hitl_event(), mavlink_send_gps_global_origin(), mission_point_of_lla(), send_ins_ref(), sim_overwrite_ins(), stateCalcAccelEcef_i(), stateCalcAccelNed_i(), stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_i(), stateCalcPositionLla_i(), stateCalcPositionNed_i(), stateCalcSpeedEnu_i(), stateCalcSpeedNed_i(), stateInit(), stateIsLocalCoordinateValid(), waypoint_globalize(), and waypoint_localize().

struct LtpDef_f State::ned_origin_f

Definition of the local (flat earth) coordinate system.

Defines the origin of the local NorthEastDown coordinate system in ECEF (EarthCenteredEarthFixed) and LLA (LatitudeLongitudeAlt) coordinates and the roation matrix from ECEF to local frame. (float version)

Definition at line 220 of file state.h.

Referenced by acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), ins_float_invariant_update_gps(), mavlink_send_global_position_int(), pressure_abs_cb(), stateCalcAccelEcef_f(), stateCalcAccelNed_f(), stateCalcHorizontalSpeedNorm_i(), stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcSpeedEcef_f(), stateCalcSpeedEnu_f(), and stateCalcSpeedNed_f().

struct LtpDef_i State::ned_origin_i

Definition of the local (flat earth) coordinate system.

Defines the origin of the local NorthEastDown coordinate system in ECEF (EarthCenteredEarthFixed) and LLA (LatitudeLongitudeAlt) coordinates and the roation matrix from ECEF to local frame. (int version)

Definition at line 166 of file state.h.

Referenced by acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), firmware_parse_msg(), gps_sim_hitl_event(), ins_float_invariant_update_gps(), ins_reset_altitude_ref(), mavlink_send_gps_global_origin(), mavlink_wp_message_handler(), mission_point_of_lla(), send_ins_ref(), stateCalcAccelEcef_i(), stateCalcAccelNed_i(), stateCalcHorizontalSpeedNorm_i(), stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcSpeedEcef_i(), stateCalcSpeedEnu_i(), stateCalcSpeedNed_i(), waypoint_globalize(), waypoint_localize(), and waypoint_move_lla().

struct NedCoor_f State::ned_pos_f

Position in North East Down coordinates.

with respect to ned_origin_i (flat earth) Units: meters

Definition at line 243 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionNed_f(), stateSetPosition_f(), and stateSetPositionNed_f().

struct NedCoor_i State::ned_pos_i

Position in North East Down coordinates.

with respect to ned_origin_i (flat earth) Units: m in BFP with INT32_POS_FRAC

Definition at line 178 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionNed_i(), stateSetPosition_i(), and stateSetPositionNed_i().

uint16_t State::pos_status

Holds the status bits for all position representations.

When the corresponding bit is set the representation is already computed.

Definition at line 144 of file state.h.

Referenced by stateCalcPositionEcef_f(), stateCalcPositionEcef_i(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateCalcSpeedEnu_f(), stateCalcSpeedEnu_i(), stateGetPositionEcef_f(), stateGetPositionEcef_i(), stateGetPositionEnu_f(), stateGetPositionEnu_i(), stateGetPositionLla_f(), stateGetPositionLla_i(), stateGetPositionNed_f(), stateGetPositionNed_i(), stateGetPositionUtm_f(), stateInit(), stateIsGlobalCoordinateValid(), stateIsLocalCoordinateValid(), stateSetLocalUtmOrigin_f(), stateSetPosition_f(), stateSetPosition_i(), stateSetPositionEcef_f(), stateSetPositionEcef_i(), stateSetPositionEnu_f(), stateSetPositionEnu_i(), stateSetPositionLla_f(), stateSetPositionLla_i(), stateSetPositionNed_f(), stateSetPositionNed_i(), and stateSetPositionUtm_f().

bool State::utm_initialized_f

True if utm origin (float) coordinate frame is initialsed.

Definition at line 236 of file state.h.

Referenced by acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), error_output(), ins_float_invariant_update_gps(), sim_overwrite_ins(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateCalcSpeedEnu_f(), stateCalcSpeedEnu_i(), stateCalcSpeedNed_f(), stateCalcSpeedNed_i(), stateInit(), stateIsLocalCoordinateValid(), and stateSetLocalUtmOrigin_f().

struct UtmCoor_f State::utm_origin_f

Definition of the origin of Utm coordinate system.

Defines the origin of the local NorthEastDown coordinate system in UTM coordinates, used as a reference when ned_origin is not initialized. Altitude is height above MSL. (float version)

Definition at line 233 of file state.h.

Referenced by acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), acInfoCalcPositionUtm_f(), acInfoCalcPositionUtm_i(), ins_float_invariant_update_gps(), ins_reset_altitude_ref(), nav_reset_alt(), nav_reset_reference(), set_ac_info_utm(), stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateInit(), and stateSetLocalUtmOrigin_f().

struct UtmCoor_f State::utm_pos_f

Position in UTM coordinates.

Units x,y: meters. Units z: meters above MSL

Definition at line 192 of file state.h.

Referenced by stateCalcPositionEnu_f(), stateCalcPositionEnu_i(), stateCalcPositionLla_f(), stateCalcPositionLla_i(), stateCalcPositionNed_f(), stateCalcPositionNed_i(), stateCalcPositionUtm_f(), stateGetPositionUtm_f(), stateSetPosition_f(), and stateSetPositionUtm_f().

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