void ahrs_update_gps(void) {
if (gps.fix == GPS_FIX_3D && ins.status == INS_RUNNING) {
ins_gps_fix_once = TRUE;
#if INS_UPDATE_FW_ESTIMATOR
if (state.utm_initialized_f) {
// position (local ned)
ins_impl.meas.pos_gps.x = (gps.utm_pos.north / 100.0f) - state.utm_origin_f.north;
ins_impl.meas.pos_gps.y = (gps.utm_pos.east / 100.0f) - state.utm_origin_f.east;
ins_impl.meas.pos_gps.z = state.utm_origin_f.alt - (gps.hmsl / 1000.0f);
// speed
ins_impl.meas.speed_gps.x = gps.ned_vel.x / 100.0f;
ins_impl.meas.speed_gps.y = gps.ned_vel.y / 100.0f;
ins_impl.meas.speed_gps.z = gps.ned_vel.z / 100.0f;
}
#else
if (state.ned_initialized_f) {
struct EcefCoor_f ecef_pos, ecef_vel;
ECEF_FLOAT_OF_BFP(ecef_pos, gps.ecef_pos);
ned_of_ecef_point_f(&ins_impl.meas.pos_gps, &state.ned_origin_f, &ecef_pos);
ECEF_FLOAT_OF_BFP(ecef_vel, gps.ecef_vel);
ned_of_ecef_vect_f(&ins_impl.meas.speed_gps, &state.ned_origin_f, &ecef_vel);
}
#endif
}
}
void ned_of_lla_point_f(struct NedCoor_f* ned, struct LtpDef_f* def, struct LlaCoor_f* lla) {
struct EcefCoor_f ecef;
ecef_of_lla_f(&ecef,lla);
ned_of_ecef_point_f(ned,def,&ecef);
}
void stateCalcPositionNed_i(void)
{
if (bit_is_set(state.pos_status, POS_NED_I)) {
return;
}
int errno = 0;
if (state.ned_initialized_i) {
if (bit_is_set(state.pos_status, POS_NED_F)) {
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
} else if (bit_is_set(state.pos_status, POS_ENU_I)) {
INT32_VECT3_NED_OF_ENU(state.ned_pos_i, state.enu_pos_i);
} else if (bit_is_set(state.pos_status, POS_ENU_F)) {
ENU_BFP_OF_REAL(state.enu_pos_i, state.enu_pos_f);
SetBit(state.pos_status, POS_ENU_I);
INT32_VECT3_NED_OF_ENU(state.ned_pos_i, state.enu_pos_i);
} else if (bit_is_set(state.pos_status, POS_ECEF_I)) {
ned_of_ecef_pos_i(&state.ned_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
} else if (bit_is_set(state.pos_status, POS_ECEF_F)) {
/* transform ecef_f -> ned_f, set status bit, then convert to int */
ned_of_ecef_point_f(&state.ned_pos_f, &state.ned_origin_f, &state.ecef_pos_f);
SetBit(state.pos_status, POS_NED_F);
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
} else if (bit_is_set(state.pos_status, POS_LLA_F)) {
/* transform lla_f -> ecef_f -> ned_f, set status bits, then convert to int */
ecef_of_lla_f(&state.ecef_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_ECEF_F);
ned_of_ecef_point_f(&state.ned_pos_f, &state.ned_origin_f, &state.ecef_pos_f);
SetBit(state.pos_status, POS_NED_F);
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
} else if (bit_is_set(state.pos_status, POS_LLA_I)) {
ned_of_lla_point_i(&state.ned_pos_i, &state.ned_origin_i, &state.lla_pos_i);
} else { /* could not get this representation, set errno */
errno = 1;
}
} else if (state.utm_initialized_f) {
if (bit_is_set(state.pos_status, POS_NED_F)) {
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
} else if (bit_is_set(state.pos_status, POS_ENU_I)) {
INT32_VECT3_NED_OF_ENU(state.ned_pos_i, state.enu_pos_i);
} else if (bit_is_set(state.pos_status, POS_ENU_F)) {
ENU_BFP_OF_REAL(state.enu_pos_i, state.enu_pos_f);
SetBit(state.pos_status, POS_ENU_I);
INT32_VECT3_NED_OF_ENU(state.ned_pos_i, state.enu_pos_i);
} else if (bit_is_set(state.pos_status, POS_UTM_F)) {
/* transform utm_f -> ned_f -> ned_i, set status bits */
NED_OF_UTM_DIFF(state.ned_pos_f, state.utm_pos_f, state.utm_origin_f);
SetBit(state.pos_status, POS_NED_F);
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
} else if (bit_is_set(state.pos_status, POS_LLA_F)) {
/* transform lla_f -> utm_f -> ned_f -> ned_i, set status bits */
utm_of_lla_f(&state.utm_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_UTM_F);
NED_OF_UTM_DIFF(state.ned_pos_f, state.utm_pos_f, state.utm_origin_f);
SetBit(state.pos_status, POS_NED_F);
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
} else if (bit_is_set(state.pos_status, POS_LLA_I)) {
/* transform lla_i -> lla_f -> utm_f -> ned_f -> ned_i, set status bits */
LLA_FLOAT_OF_BFP(state.lla_pos_f, state.lla_pos_i);
SetBit(state.pos_status, POS_LLA_F);
utm_of_lla_f(&state.utm_pos_f, &state.lla_pos_f);
SetBit(state.pos_status, POS_UTM_F);
NED_OF_UTM_DIFF(state.ned_pos_f, state.utm_pos_f, state.utm_origin_f);
SetBit(state.pos_status, POS_NED_F);
NED_BFP_OF_REAL(state.ned_pos_i, state.ned_pos_f);
} else { /* could not get this representation, set errno */
errno = 2;
}
} else { /* ned coordinate system not initialized, set errno */
errno = 3;
}
if (errno) {
//struct NedCoor_i _ned_zero = {0};
//return _ned_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.pos_status, POS_NED_I);
}