void lla_of_ecef_i(struct LlaCoor_i* out, struct EcefCoor_i* in) {
/* convert our input to floating point */
struct EcefCoor_d in_d;
in_d.x = M_OF_CM((double)in->x);
in_d.y = M_OF_CM((double)in->y);
in_d.z = M_OF_CM((double)in->z);
/* calls the floating point transformation */
struct LlaCoor_d out_d;
lla_of_ecef_d(&out_d, &in_d);
/* convert the output to fixed point */
out->lon = (int32_t)rint(EM7RAD_OF_RAD(out_d.lon));
out->lat = (int32_t)rint(EM7RAD_OF_RAD(out_d.lat));
out->alt = (int32_t)MM_OF_M(out_d.alt);
}
void gps_feed_values(double utm_north, double utm_east, double utm_alt, double gspeed, double course, double climb) {
gps.utm_pos.north = CM_OF_M(utm_north);
gps.utm_pos.east = CM_OF_M(utm_east);
//TODO set height above ellipsoid properly
gps.hmsl = utm_alt * 1000.;
gps.gspeed = CM_OF_M(gspeed);
gps.course = EM7RAD_OF_RAD(RadOfDeg(course/10.));
gps.ned_vel.z = -climb*100.;
gps.fix = GPS_FIX_3D;
gps_available = TRUE;
}
