void ins_int_init(void)
{
#if USE_INS_NAV_INIT
ins_init_origin_i_from_flightplan(&ins_int.ltp_def);
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_INT_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_INT_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
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
/*
* Subscribe to scaled IMU measurements and attach callbacks
*/
AbiBindMsgIMU_ACCEL_INT32(INS_INT_IMU_ID, &accel_ev, accel_cb);
AbiBindMsgGPS(INS_INT_GPS_ID, &gps_ev, gps_cb);
AbiBindMsgVELOCITY_ESTIMATE(INS_INT_VEL_ID, &vel_est_ev, vel_est_cb);
AbiBindMsgPOSITION_ESTIMATE(INS_INT_POS_ID, &pos_est_ev, pos_est_cb);
}
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 = 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
}