C++ (Cpp) utm_float_from_gps Examples

Example #1

File: ins.c Project: 2seasuav/paparuzzi

void WEAK ins_reset_local_origin(void)
{
#if USE_GPS
  struct UtmCoor_f utm = utm_float_from_gps(&gps, 0);

  // ground_alt
  utm.alt = gps.hmsl  / 1000.0f;

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

Example #2

File: ins_xsens700.c Project: CodeMining/paparazzi

void ins_xsens_update_gps(struct GpsState *gps_s)
{
  struct UtmCoor_f utm = utm_float_from_gps(gps_s, nav_utm_zone0);
  utm.alt = gps_s->hmsl / 1000.;

  // set position
  stateSetPositionUtm_f(&utm);

  struct NedCoor_f ned_vel = {
    gps_s->ned_vel.x / 100.,
    gps_s->ned_vel.y / 100.,
    gps_s->ned_vel.z / 100.
  };
  // set velocity
  stateSetSpeedNed_f(&ned_vel);
}

Example #3

File: ins_xsens700.c Project: EwoudSmeur/paparazzi

static void gps_cb(uint8_t sender_id __attribute__((unused)),
                   uint32_t stamp __attribute__((unused)),
                   struct GpsState *gps_s)
{
  struct UtmCoor_f utm = utm_float_from_gps(gps_s, nav_utm_zone0);

  // set position
  stateSetPositionUtm_f(&utm);

  struct NedCoor_f ned_vel = {
    gps_s->ned_vel.x / 100.,
    gps_s->ned_vel.y / 100.,
    gps_s->ned_vel.z / 100.
  };
  // set velocity
  stateSetSpeedNed_f(&ned_vel);
}