[ins] reset reference position from INS not from NAV #644
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Nav is (almost) independent of the GPS which is a sensor and should only be seen by the INS/AHRS subsystems. It also allow to make shared INS filters more easily (example with invariant filter).
| ins_impl.ltp_initialized = FALSE; | ||
| ins.hf_realign = TRUE; | ||
| ins.vf_realign = TRUE; | ||
| ins_reset_ground_ref(); |
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I think calling it ins_reset_ltp_ref() would be more descriptive...
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it is the same interface for utm and ltp, that's why I called it ground_ref
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The gps include in navigation.c also seems to be not needed anymore now and can be removed, looks good to me otherwise.... |
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unfortunately, we still need gps.h in nav for the GpsValid() function, but this should go in state in the end |
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Right, then maybe a comment at the include that it is needed for auto_nav from the flight plan... |
This was referenced Feb 26, 2014
and fix some missing fuctions
… by each algorithm
flixr
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Feb 27, 2014
- reset reference position from INS not from NAV - remove hf_realign, vf_realign from ins struct - remove ins_realign_v and ins_realign_h API functions - weak functions for things that don't need to be implemented in each algoritm
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Nav is (almost) independent of the GPS which is a sensor and should only
be seen by the INS/AHRS subsystems.
It also allow to make shared INS filters more easily (example with
invariant filter).