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 "subsystems/ins.h"

#if USE_GPS
// for ins_reset_utm_zone
#include "subsystems/gps.h"
#include "state.h"
#endif

#ifndef DefaultInsImpl
#warning "DefaultInsImpl not set!"
#else
PRINT_CONFIG_VAR(DefaultInsImpl)
#endif

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

struct Ins {
  InsInit init;
};

struct Ins ins;

void ins_register_impl(InsInit init)
{
  ins.init = init;

  ins.init();
}

void ins_init(void)
{
  ins.init = NULL;

#ifdef DefaultInsImpl
  DefaultInsRegister();
#endif
}


// weak functions, used if not explicitly provided by implementation

void WEAK ins_reset_local_origin(void)
{
#if USE_GPS
  struct UtmCoor_f utm;
#ifdef GPS_USE_LATLONG
  /* Recompute UTM coordinates in this zone */
  struct LlaCoor_f lla;
  LLA_FLOAT_OF_BFP(lla, gps.lla_pos);
  utm.zone = (gps.lla_pos.lon / 1e7 + 180) / 6 + 1;
  utm_of_lla_f(&utm, &lla);
#else
  utm.zone = gps.utm_pos.zone;
  utm.east = gps.utm_pos.east / 100.0f;
  utm.north = gps.utm_pos.north / 100.0f;
#endif
  // ground_alt
  utm.alt = gps.hmsl  / 1000.0f;

  // reset state UTM ref
  stateSetLocalUtmOrigin_f(&utm);
#endif
}

void WEAK ins_reset_altitude_ref(void) {}

#if USE_GPS
void WEAK ins_reset_utm_zone(struct UtmCoor_f *utm)
{
  struct LlaCoor_f lla0;
  lla_of_utm_f(&lla0, utm);
#ifdef GPS_USE_LATLONG
  utm->zone = (gps.lla_pos.lon / 1e7 + 180) / 6 + 1;
#else
  utm->zone = gps.utm_pos.zone;
#endif
  utm_of_lla_f(utm, &lla0);

  stateSetLocalUtmOrigin_f(utm);
}
#else
void WEAK ins_reset_utm_zone(struct UtmCoor_f *utm __attribute__((unused))) {}
#endif