/** Reset the geographic reference to the current GPS fix */
unit_t nav_reset_reference(void)
{
ins_reset_local_origin();
/* update local ENU coordinates of global waypoints */
waypoints_localize_all();
return 0;
}
unit_t nav_reset_alt(void)
{
ins_reset_altitude_ref();
waypoints_localize_all();
return 0;
}
STATIC_INLINE void main_init(void)
{
mcu_init();
#if defined(PPRZ_TRIG_INT_COMPR_FLASH)
pprz_trig_int_init();
#endif
electrical_init();
stateInit();
#ifndef INTER_MCU_AP
actuators_init();
#else
intermcu_init();
#endif
#if USE_MOTOR_MIXING
motor_mixing_init();
#endif
#ifndef INTER_MCU_AP
radio_control_init();
#endif
#if USE_BARO_BOARD
baro_init();
#endif
#if USE_AHRS_ALIGNER
ahrs_aligner_init();
#endif
#if USE_AHRS
ahrs_init();
#endif
autopilot_init();
modules_init();
/* temporary hack:
* Since INS is now a module, LTP_DEF is not yet initialized when autopilot_init is called
* This led to the problem that global waypoints were not "localized",
* so as a stop-gap measure we localize them all (again) here..
*/
waypoints_localize_all();
settings_init();
mcu_int_enable();
#if DOWNLINK
downlink_init();
#endif
#ifdef INTER_MCU_AP
intermcu_init();
#endif
// register the timers for the periodic functions
main_periodic_tid = sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
#if PERIODIC_FREQUENCY != MODULES_FREQUENCY
modules_tid = sys_time_register_timer(1. / MODULES_FREQUENCY, NULL);
#endif
radio_control_tid = sys_time_register_timer((1. / 60.), NULL);
failsafe_tid = sys_time_register_timer(0.05, NULL);
electrical_tid = sys_time_register_timer(0.1, NULL);
telemetry_tid = sys_time_register_timer((1. / TELEMETRY_FREQUENCY), NULL);
#if USE_BARO_BOARD
baro_tid = sys_time_register_timer(1. / BARO_PERIODIC_FREQUENCY, NULL);
#endif
#if USE_IMU
// send body_to_imu from here for now
AbiSendMsgBODY_TO_IMU_QUAT(1, orientationGetQuat_f(&imu.body_to_imu));
#endif
// Do a failsafe check first
failsafe_check();
}
