ins_gps_passthrough.c File Reference

Simply converts GPS ECEF position and velocity to NED and passes it through to the state interface. More...

#include "subsystems/ins.h"
#include <inttypes.h>
#include <math.h>
#include "state.h"
#include "subsystems/gps.h"
#include "subsystems/ins/ins_gps_passthrough.h"
#include "subsystems/abi.h"

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Data Structures
struct	InsGpsPassthrough

Macros
#define	USE_INS_NAV_INIT   TRUE

Functions
void	ins_gps_passthrough_init (void)
void	ins_reset_local_origin (void)
	INS local origin reset. More...
void	ins_reset_altitude_ref (void)
	INS altitude reference reset. More...
static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
void	ins_gps_passthrough_register (void)

Variables
struct InsGpsPassthrough	ins_gp
static abi_event	gps_ev

Detailed Description

Simply converts GPS ECEF position and velocity to NED and passes it through to the state interface.

Definition in file ins_gps_passthrough.c.

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Data Structure Documentation

struct InsGpsPassthrough

Definition at line 48 of file ins_gps_passthrough.c.

Collaboration diagram for InsGpsPassthrough:

Data Fields
struct NedCoor_i	ltp_accel
struct LtpDef_i	ltp_def
bool_t	ltp_initialized
struct NedCoor_i	ltp_pos
struct NedCoor_i	ltp_speed

Macro Definition Documentation

#define USE_INS_NAV_INIT   TRUE

Definition at line 38 of file ins_gps_passthrough.c.

Function Documentation

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

static

Definition at line 148 of file ins_gps_passthrough.c.

References GpsState::ecef_pos, GpsState::ecef_vel, GpsState::fix, GPS_FIX_3D, ins_gp, ins_reset_local_origin(), INT32_POS_OF_CM_DEN, INT32_POS_OF_CM_NUM, INT32_SPEED_OF_CM_S_DEN, INT32_SPEED_OF_CM_S_NUM, INT32_VECT3_SCALE_2, InsGpsPassthrough::ltp_def, InsGpsPassthrough::ltp_initialized, InsGpsPassthrough::ltp_pos, InsGpsPassthrough::ltp_speed, ned_of_ecef_point_i(), ned_of_ecef_vect_i(), stateSetPositionNed_i(), and stateSetSpeedNed_i().

Referenced by ins_gps_passthrough_register().

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void ins_gps_passthrough_init

(

void

)

Definition at line 91 of file ins_gps_passthrough.c.

References LlaCoor_i::alt, DefaultPeriodic, ecef_of_lla_i(), FALSE, LtpDef_i::hmsl, ins_gp, INT32_VECT3_ZERO, LlaCoor_i::lat, LlaCoor_i::lon, InsGpsPassthrough::ltp_accel, InsGpsPassthrough::ltp_def, ltp_def_from_ecef_i(), InsGpsPassthrough::ltp_initialized, InsGpsPassthrough::ltp_pos, InsGpsPassthrough::ltp_speed, register_periodic_telemetry(), stateSetLocalOrigin_i(), and TRUE.

Referenced by ins_gps_passthrough_register().

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void ins_gps_passthrough_register

(

void

)

Definition at line 173 of file ins_gps_passthrough.c.

References ABI_BROADCAST, gps_cb(), ins_gps_passthrough_init(), and ins_register_impl().

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void 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 133 of file ins_gps_passthrough.c.

References LlaCoor_i::alt, gps, GpsState::hmsl, LtpDef_i::hmsl, ins_gp, LlaCoor_i::lat, LtpDef_i::lla, GpsState::lla_pos, LlaCoor_i::lon, InsGpsPassthrough::ltp_def, ltp_def_from_lla_i(), State::ned_origin_i, state, and stateSetLocalOrigin_i().

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void 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 124 of file ins_gps_passthrough.c.

References LlaCoor_i::alt, GpsState::ecef_pos, gps, GpsState::hmsl, LtpDef_i::hmsl, ins_gp, LtpDef_i::lla, GpsState::lla_pos, InsGpsPassthrough::ltp_def, ltp_def_from_ecef_i(), InsGpsPassthrough::ltp_initialized, stateSetLocalOrigin_i(), and TRUE.

Referenced by gps_cb().

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Variable Documentation

abi_event gps_ev

static

Definition at line 147 of file ins_gps_passthrough.c.

struct InsGpsPassthrough ins_gp

Definition at line 58 of file ins_gps_passthrough.c.

Referenced by gps_cb(), ins_gps_passthrough_init(), ins_reset_altitude_ref(), and ins_reset_local_origin().