ins_gps_passthrough_utm.c File Reference

Simply passes GPS UTM position and velocity through to the state interface. More...

#include "subsystems/ins.h"
#include <inttypes.h>
#include <math.h>
#include "state.h"
#include "subsystems/gps.h"
#include "firmwares/fixedwing/nav.h"
#include "subsystems/ins/ins_gps_passthrough_utm.h"
#include "subsystems/abi.h"

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Functions
void	ins_gps_utm_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_utm_register (void)

Variables
static abi_event	gps_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.

Function Documentation

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

static

Definition at line 78 of file ins_gps_passthrough_utm.c.

References UtmCoor_f::alt, UtmCoor_f::east, UtmCoor_i::east, GpsState::hmsl, nav_utm_zone0, GpsState::ned_vel, UtmCoor_f::north, UtmCoor_i::north, stateSetPositionUtm_f(), stateSetSpeedNed_f(), GpsState::utm_pos, NedCoor_i::x, NedCoor_i::y, NedCoor_i::z, and UtmCoor_f::zone.

Referenced by ins_gps_utm_register().

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void ins_gps_utm_init

(

void

)

Definition at line 40 of file ins_gps_passthrough_utm.c.

References nav_utm_east0, nav_utm_north0, nav_utm_zone0, stateSetLocalUtmOrigin_f(), and stateSetPositionUtm_f().

Referenced by ins_gps_utm_register().

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void ins_gps_utm_register

(

void

)

Definition at line 100 of file ins_gps_passthrough_utm.c.

References ABI_BROADCAST, gps_cb(), ins_gps_utm_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 67 of file ins_gps_passthrough_utm.c.

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

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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 47 of file ins_gps_passthrough_utm.c.

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

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Variable Documentation

abi_event gps_ev

static

Definition at line 76 of file ins_gps_passthrough_utm.c.