void ins_init() {
#if USE_INS_NAV_INIT
ins_ltp_initialised = TRUE;
/** FIXME: should use the same code than MOVE_WP in firmwares/rotorcraft/datalink.c */
struct LlaCoor_i llh_nav0; /* Height above the ellipsoid */
llh_nav0.lat = INT32_RAD_OF_DEG(NAV_LAT0);
llh_nav0.lon = INT32_RAD_OF_DEG(NAV_LON0);
/* NAV_ALT0 = ground alt above msl, NAV_MSL0 = geoid-height (msl) over ellipsoid */
llh_nav0.alt = NAV_ALT0 + NAV_MSL0;
struct EcefCoor_i ecef_nav0;
ecef_of_lla_i(&ecef_nav0, &llh_nav0);
ltp_def_from_ecef_i(&ins_ltp_def, &ecef_nav0);
ins_ltp_def.hmsl = NAV_ALT0;
#else
ins_ltp_initialised = FALSE;
#endif
ins_baro_initialised = FALSE;
init_median_filter(&baro_median);
ins_update_on_agl = FALSE;
init_median_filter(&sonar_median);
ins_sonar_offset = INS_SONAR_OFFSET;
vff_init(0., 0., 0., 0.);
ins.vf_realign = FALSE;
ins.hf_realign = FALSE;
#if USE_HFF
b2_hff_init(0., 0., 0., 0.);
#endif
INT32_VECT3_ZERO(ins_ltp_pos);
INT32_VECT3_ZERO(ins_ltp_speed);
INT32_VECT3_ZERO(ins_ltp_accel);
}
void ins_int_init(void)
{
#if USE_INS_NAV_INIT
ins_init_origin_from_flightplan();
ins_int.ltp_initialized = TRUE;
#else
ins_int.ltp_initialized = FALSE;
#endif
/* we haven't had any measurement updates yet, so set the counter to max */
ins_int.propagation_cnt = INS_MAX_PROPAGATION_STEPS;
// Bind to BARO_ABS message
AbiBindMsgBARO_ABS(INS_BARO_ID, &baro_ev, baro_cb);
ins_int.baro_initialized = FALSE;
#if USE_SONAR
ins_int.update_on_agl = INS_SONAR_UPDATE_ON_AGL;
// Bind to AGL message
AbiBindMsgAGL(INS_SONAR_ID, &sonar_ev, sonar_cb);
#endif
ins_int.vf_reset = FALSE;
ins_int.hf_realign = FALSE;
/* init vertical and horizontal filters */
vff_init_zero();
#if USE_HFF
b2_hff_init(0., 0., 0., 0.);
#endif
INT32_VECT3_ZERO(ins_int.ltp_pos);
INT32_VECT3_ZERO(ins_int.ltp_speed);
INT32_VECT3_ZERO(ins_int.ltp_accel);
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_INS, send_ins);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_INS_Z, send_ins_z);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_INS_REF, send_ins_ref);
#endif
}
void ins_init(void) {
#if USE_INS_NAV_INIT
ins_init_origin_from_flightplan();
ins_impl.ltp_initialized = TRUE;
#else
ins_impl.ltp_initialized = FALSE;
#endif
// Bind to BARO_ABS message
AbiBindMsgBARO_ABS(INS_BARO_ID, &baro_ev, baro_cb);
ins_impl.baro_initialized = FALSE;
#if USE_SONAR
ins_impl.update_on_agl = FALSE;
init_median_filter(&ins_impl.sonar_median);
ins_impl.sonar_offset = INS_SONAR_OFFSET;
#endif
ins.vf_realign = FALSE;
ins.hf_realign = FALSE;
/* init vertical and horizontal filters */
#if USE_VFF_EXTENDED
vff_init(0., 0., 0., 0.);
#else
vff_init(0., 0., 0.);
#endif
#if USE_HFF
b2_hff_init(0., 0., 0., 0.);
#endif
INT32_VECT3_ZERO(ins_impl.ltp_pos);
INT32_VECT3_ZERO(ins_impl.ltp_speed);
INT32_VECT3_ZERO(ins_impl.ltp_accel);
#if DOWNLINK
register_periodic_telemetry(DefaultPeriodic, "INS", send_ins);
register_periodic_telemetry(DefaultPeriodic, "INS_Z", send_ins_z);
register_periodic_telemetry(DefaultPeriodic, "INS_REF", send_ins_ref);
#endif
}
void ins_init(void)
{
#if USE_INS_NAV_INIT
ins_init_origin_from_flightplan();
ins_impl.ltp_initialized = TRUE;
#else
ins_impl.ltp_initialized = FALSE;
#endif
// Bind to BARO_ABS message
AbiBindMsgBARO_ABS(INS_BARO_ID, &baro_ev, baro_cb);
ins_impl.baro_initialized = FALSE;
#if USE_SONAR
ins_impl.update_on_agl = INS_SONAR_UPDATE_ON_AGL;
// Bind to AGL message
AbiBindMsgAGL(INS_SONAR_ID, &sonar_ev, sonar_cb);
#endif
ins_impl.vf_reset = FALSE;
ins_impl.hf_realign = FALSE;
/* init vertical and horizontal filters */
vff_init_zero();
#if USE_HFF
b2_hff_init(0., 0., 0., 0.);
#endif
INT32_VECT3_ZERO(ins_impl.ltp_pos);
INT32_VECT3_ZERO(ins_impl.ltp_speed);
INT32_VECT3_ZERO(ins_impl.ltp_accel);
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, "INS", send_ins);
register_periodic_telemetry(DefaultPeriodic, "INS_Z", send_ins_z);
register_periodic_telemetry(DefaultPeriodic, "INS_REF", send_ins_ref);
#endif
}
void ins_init() {
#ifdef USE_INS_NAV_INIT
ins_ltp_initialised = TRUE;
/** FIXME: should use the same code than MOVE_WP in booz2_datalink.c */
struct LlaCoor_i llh; /* Height above the ellipsoid */
llh.lat = INT32_RAD_OF_DEG(NAV_LAT0);
llh.lon = INT32_RAD_OF_DEG(NAV_LON0);
//llh.alt = NAV_ALT0 - ins_ltp_def.hmsl + ins_ltp_def.lla.alt;
llh.alt = NAV_ALT0 + NAV_HMSL0;
struct EcefCoor_i nav_init;
ecef_of_lla_i(&nav_init, &llh);
ltp_def_from_ecef_i(&ins_ltp_def, &nav_init);
ins_ltp_def.hmsl = NAV_ALT0;
#else
ins_ltp_initialised = FALSE;
#endif
#ifdef USE_VFF
ins_baro_initialised = FALSE;
#ifdef BOOZ2_SONAR
ins_update_on_agl = FALSE;
#endif
vff_init(0., 0., 0.);
#endif
ins_vf_realign = FALSE;
ins_hf_realign = FALSE;
#ifdef USE_HFF
b2_hff_init(0., 0., 0., 0.);
#endif
INT32_VECT3_ZERO(ins_ltp_pos);
INT32_VECT3_ZERO(ins_ltp_speed);
INT32_VECT3_ZERO(ins_ltp_accel);
INT32_VECT3_ZERO(ins_enu_pos);
INT32_VECT3_ZERO(ins_enu_speed);
INT32_VECT3_ZERO(ins_enu_accel);
}
void ins_init() {
#if USE_INS_NAV_INIT
ins_ltp_initialised = TRUE;
/** FIXME: should use the same code than MOVE_WP in firmwares/rotorcraft/datalink.c */
struct LlaCoor_i llh_nav0; /* Height above the ellipsoid */
llh_nav0.lat = INT32_RAD_OF_DEG(NAV_LAT0);
llh_nav0.lon = INT32_RAD_OF_DEG(NAV_LON0);
/* NAV_ALT0 = ground alt above msl, NAV_MSL0 = geoid-height (msl) over ellipsoid */
llh_nav0.alt = NAV_ALT0 + NAV_MSL0;
struct EcefCoor_i ecef_nav0;
ecef_of_lla_i(&ecef_nav0, &llh_nav0);
ltp_def_from_ecef_i(&ins_ltp_def, &ecef_nav0);
ins_ltp_def.hmsl = NAV_ALT0;
stateSetLocalOrigin_i(&ins_ltp_def);
#else
ins_ltp_initialised = FALSE;
#endif
#if USE_VFF
ins_baro_initialised = FALSE;
vff_init(0., 0., 0.);
#endif
ins.vf_realign = FALSE;
ins.hf_realign = FALSE;
#if USE_HFF
b2_hff_init(0., 0., 0., 0.);
#endif
INT32_VECT3_ZERO(ins_ltp_pos);
INT32_VECT3_ZERO(ins_ltp_speed);
INT32_VECT3_ZERO(ins_ltp_accel);
// TODO correct init
ins.status = INS_RUNNING;
}
