ins.c File Reference

Integrated Navigation System interface. More...

#include "subsystems/ins.h"
#include "subsystems/gps.h"
#include "state.h"

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Data Structures
struct	Ins
	Inertial Navigation System state. More...

Macros
#define	__DefaultInsRegister(_x)   _x ## _register()
#define	_DefaultInsRegister(_x)   __DefaultInsRegister(_x)
#define	DefaultInsRegister()   _DefaultInsRegister(DefaultInsImpl)

Functions
void	ins_register_impl (InsInit init)
void	ins_init (void)
	INS initialization. More...
void WEAK	ins_reset_local_origin (void)
	INS local origin reset. More...
void WEAK	ins_reset_altitude_ref (void)
	INS altitude reference reset. More...
void WEAK	ins_reset_utm_zone (struct UtmCoor_f *utm)
	INS utm zone reset. More...

Variables
struct Ins	ins

Detailed Description

Integrated Navigation System interface.

Definition in file ins.c.

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Data Structure Documentation

struct Ins

Inertial Navigation System state.

Definition at line 47 of file ins.c.

Data Fields
InsInit	init

Macro Definition Documentation

#define __DefaultInsRegister

(

_x

)

_x ## _register()

Definition at line 42 of file ins.c.

#define _DefaultInsRegister

(

_x

)

__DefaultInsRegister(_x)

Definition at line 43 of file ins.c.

#define DefaultInsRegister

(

)

_DefaultInsRegister(DefaultInsImpl)

Definition at line 44 of file ins.c.

Referenced by ins_init().

Function Documentation

void ins_init

(

void

)

INS initialization.

Called at startup. Initializes the global ins struct.

Definition at line 60 of file ins.c.

References DefaultInsRegister, Ins::init, and ins.

Referenced by init_ap(), and main_init().

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void ins_register_impl

(

InsInit

init

)

Definition at line 53 of file ins.c.

References Ins::init, init, and ins.

Referenced by ins_altf_register(), ins_float_invariant_register(), ins_gps_passthrough_register(), ins_gps_utm_register(), ins_int_register(), and ins_vectornav_register().

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void WEAK 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 95 of file ins.c.

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

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void WEAK 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 72 of file ins.c.

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

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void WEAK ins_reset_utm_zone

(

struct UtmCoor_f *

utm

)

INS utm zone reset.

Reset UTM zone according te the actual position. Only used with fixedwing firmware. Can be overwritte by specifc INS implementation.

Parameters

utm	initial utm zone, returns the corrected utm position

Definition at line 98 of file ins.c.

References gps, lla_of_utm_f(), GpsState::lla_pos, LlaCoor_i::lon, stateSetLocalUtmOrigin_f(), utm_of_lla_f(), GpsState::utm_pos, UtmCoor_f::zone, and UtmCoor_i::zone.

Referenced by nav_reset_utm_zone().

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Variable Documentation

struct Ins ins

Definition at line 51 of file ins.c.

Referenced by ins_init(), and ins_register_impl().