[paparazzi-commits] [paparazzi/paparazzi] def435: [ins] reset reference

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[paparazzi-commits] [paparazzi/paparazzi] def435: [ins] reset reference

From:	GitHub
Subject:	[paparazzi-commits] [paparazzi/paparazzi] def435: [ins] reset reference position from INS not from N...
Date:	Thu, 27 Feb 2014 09:53:43 -0800

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: def43503022507c78179cc4452394e616a52af1d
      
https://github.com/paparazzi/paparazzi/commit/def43503022507c78179cc4452394e616a52af1d
  Author: Gautier Hattenberger <address@hidden>
  Date:   2014-02-26 (Wed, 26 Feb 2014)

  Changed paths:
    M conf/flight_plans/versatile.xml
    M sw/airborne/firmwares/rotorcraft/navigation.c
    M sw/airborne/subsystems/ins.h
    M sw/airborne/subsystems/ins/ins_alt_float.c
    M sw/airborne/subsystems/ins/ins_alt_float.h
    M sw/airborne/subsystems/ins/ins_ardrone2.c
    M sw/airborne/subsystems/ins/ins_float_invariant.c
    M sw/airborne/subsystems/ins/ins_gps_passthrough.c
    M sw/airborne/subsystems/ins/ins_int.c
    M sw/airborne/subsystems/navigation/common_nav.c

  Log Message:
  -----------
  [ins] reset reference position from INS not from NAV

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).


  Commit: 1b4955e258cdf5706865b48beb3f67261eb22ce0
      
https://github.com/paparazzi/paparazzi/commit/1b4955e258cdf5706865b48beb3f67261eb22ce0
  Author: Gautier Hattenberger <address@hidden>
  Date:   2014-02-26 (Wed, 26 Feb 2014)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/navigation.c
    M sw/airborne/subsystems/ins.h
    M sw/airborne/subsystems/ins/ins_alt_float.c
    M sw/airborne/subsystems/ins/ins_alt_float.h
    M sw/airborne/subsystems/ins/ins_ardrone2.c
    M sw/airborne/subsystems/ins/ins_float_invariant.c
    M sw/airborne/subsystems/ins/ins_gps_passthrough.c
    M sw/airborne/subsystems/ins/ins_int.c
    M sw/airborne/subsystems/navigation/common_nav.c

  Log Message:
  -----------
  [ins] cleaning and dox update to better match what it actually does


  Commit: 4fb484c3d3323af56795b035de2908247a3a141f
      
https://github.com/paparazzi/paparazzi/commit/4fb484c3d3323af56795b035de2908247a3a141f
  Author: Felix Ruess <address@hidden>
  Date:   2014-02-27 (Thu, 27 Feb 2014)

  Changed paths:
    M conf/settings/control/rotorcraft_guidance.xml
    M sw/airborne/modules/ins/ins_xsens.c
    M sw/airborne/subsystems/imu/imu_um6.c
    M sw/airborne/subsystems/imu/imu_um6.h
    M sw/airborne/subsystems/ins.h
    M sw/airborne/subsystems/ins/ins_alt_float.c
    M sw/airborne/subsystems/ins/ins_alt_float.h
    M sw/airborne/subsystems/ins/ins_ardrone2.c
    M sw/airborne/subsystems/ins/ins_float_invariant.c
    M sw/airborne/subsystems/ins/ins_float_invariant.h
    M sw/airborne/subsystems/ins/ins_gps_passthrough.c
    M sw/airborne/subsystems/ins/ins_int.c
    M sw/airborne/subsystems/ins/ins_int.h

  Log Message:
  -----------
  [ins] remove hf|vf_realign from global ins struct

and fix some missing fuctions


  Commit: 6a0a5359e635fd73a96b3c88febeca7a6ccf6763
      
https://github.com/paparazzi/paparazzi/commit/6a0a5359e635fd73a96b3c88febeca7a6ccf6763
  Author: Felix Ruess <address@hidden>
  Date:   2014-02-27 (Thu, 27 Feb 2014)

  Changed paths:
    M sw/airborne/subsystems/ins.h
    M sw/airborne/subsystems/ins/ins_alt_float.c
    M sw/airborne/subsystems/ins/ins_ardrone2.c
    M sw/airborne/subsystems/ins/ins_float_invariant.c
    M sw/airborne/subsystems/ins/ins_gps_passthrough.c
    M sw/airborne/subsystems/ins/ins_int.c

  Log Message:
  -----------
  [ins] remove ins_realign_v and ins_realign_h


  Commit: 5277c8f59341912ac9e4592a518b0ad48f21e578
      
https://github.com/paparazzi/paparazzi/commit/5277c8f59341912ac9e4592a518b0ad48f21e578
  Author: Felix Ruess <address@hidden>
  Date:   2014-02-27 (Thu, 27 Feb 2014)

  Changed paths:
    R sw/airborne/modules/cam_control/cam_track.c
    R sw/airborne/modules/cam_control/cam_track.h

  Log Message:
  -----------
  [modules] remove obsolete cam_track


  Commit: 59d167d206e14617bf0bb7757f217e70c1c8de1c
      
https://github.com/paparazzi/paparazzi/commit/59d167d206e14617bf0bb7757f217e70c1c8de1c
  Author: Felix Ruess <address@hidden>
  Date:   2014-02-27 (Thu, 27 Feb 2014)

  Changed paths:
    M sw/airborne/modules/ins/ins_xsens.c
    M sw/airborne/subsystems/ins.c
    M sw/airborne/subsystems/ins.h
    M sw/airborne/subsystems/ins/ins_alt_float.c
    M sw/airborne/subsystems/ins/ins_ardrone2.c
    M sw/airborne/subsystems/ins/ins_float_invariant.c
    M sw/airborne/subsystems/ins/ins_gps_passthrough.c
    M sw/airborne/subsystems/ins/ins_int.c

  Log Message:
  -----------
  [ins] use weak functions for things that don't need to be implemented by each 
algorithm


  Commit: 75acbe9f3df6e75723f05450d0a27fe2610aac33
      
https://github.com/paparazzi/paparazzi/commit/75acbe9f3df6e75723f05450d0a27fe2610aac33
  Author: Felix Ruess <address@hidden>
  Date:   2014-02-27 (Thu, 27 Feb 2014)

  Changed paths:
    M sw/airborne/subsystems/ins/ins_int.c
    M sw/airborne/subsystems/ins/vf_extended_float.c
    M sw/airborne/subsystems/ins/vf_extended_float.h
    M sw/airborne/subsystems/ins/vf_float.c
    M sw/airborne/subsystems/ins/vf_float.h

  Log Message:
  -----------
  [ins] vf cleanup: struct for states


  Commit: 02b32c97ea25083536dcb36c6dd5b9ab8453778c
      
https://github.com/paparazzi/paparazzi/commit/02b32c97ea25083536dcb36c6dd5b9ab8453778c
  Author: Felix Ruess <address@hidden>
  Date:   2014-02-27 (Thu, 27 Feb 2014)

  Changed paths:
    M sw/airborne/subsystems/ins/hf_float.c
    M sw/airborne/subsystems/ins/hf_float.h

  Log Message:
  -----------
  [ins] minor hff cleanup


  Commit: 7cb1f8a890bdfbc57627a8a873fe623ec4d83236
      
https://github.com/paparazzi/paparazzi/commit/7cb1f8a890bdfbc57627a8a873fe623ec4d83236
  Author: Felix Ruess <address@hidden>
  Date:   2014-02-27 (Thu, 27 Feb 2014)

  Changed paths:
    M conf/flight_plans/versatile.xml
    M conf/settings/control/rotorcraft_guidance.xml
    M sw/airborne/firmwares/rotorcraft/navigation.c
    R sw/airborne/modules/cam_control/cam_track.c
    R sw/airborne/modules/cam_control/cam_track.h
    M sw/airborne/subsystems/imu/imu_um6.c
    M sw/airborne/subsystems/imu/imu_um6.h
    M sw/airborne/subsystems/ins.c
    M sw/airborne/subsystems/ins.h
    M sw/airborne/subsystems/ins/hf_float.c
    M sw/airborne/subsystems/ins/hf_float.h
    M sw/airborne/subsystems/ins/ins_alt_float.c
    M sw/airborne/subsystems/ins/ins_alt_float.h
    M sw/airborne/subsystems/ins/ins_ardrone2.c
    M sw/airborne/subsystems/ins/ins_float_invariant.c
    M sw/airborne/subsystems/ins/ins_float_invariant.h
    M sw/airborne/subsystems/ins/ins_gps_passthrough.c
    M sw/airborne/subsystems/ins/ins_int.c
    M sw/airborne/subsystems/ins/ins_int.h
    M sw/airborne/subsystems/ins/vf_extended_float.c
    M sw/airborne/subsystems/ins/vf_extended_float.h
    M sw/airborne/subsystems/ins/vf_float.c
    M sw/airborne/subsystems/ins/vf_float.h
    M sw/airborne/subsystems/navigation/common_nav.c

  Log Message:
  -----------
  Merge pull request #644 from paparazzi/ins_reset

- 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


Compare: 
https://github.com/paparazzi/paparazzi/compare/c48e0975bea2...7cb1f8a890bd

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