[paparazzi-commits] [paparazzi/paparazzi] 497816: [ins] add new ins based on invariant filter

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 4978164027158e9000a783ca414b9c9f23b8fe9f
      
https://github.com/paparazzi/paparazzi/commit/4978164027158e9000a783ca414b9c9f23b8fe9f
  Author: Gautier Hattenberger <address@hidden>
  Date:   2013-12-05 (Thu, 05 Dec 2013)

  Changed paths:
    A conf/airframes/ENAC/fixed-wing/jp.xml
    A conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile
    M conf/firmwares/subsystems/shared/imu_apogee.makefile
    M conf/messages.xml
    M conf/modules/mag_hmc58xx.xml
    A conf/settings/estimation/ins_float_invariant.xml
    A conf/simulator/nps/nps_sensors_params_invariant.h
    M sw/airborne/math/pprz_algebra.h
    M sw/airborne/math/pprz_algebra_float.h
    M sw/airborne/math/pprz_geodetic.h
    A sw/airborne/math/pprz_rk_float.h
    M sw/airborne/modules/sensors/mag_hmc58xx.c
    M sw/airborne/state.c
    M sw/airborne/subsystems/ahrs/ahrs_float_utils.h
    A sw/airborne/subsystems/ins/ins_float_invariant.c
    A sw/airborne/subsystems/ins/ins_float_invariant.h
    M sw/airborne/subsystems/navigation/common_nav.c
    M sw/simulator/nps/nps_fdm_jsbsim.c

  Log Message:
  -----------
  [ins] add new ins based on invariant filter

- experimental invariant filter for complet ins
- tested on fixed-wing only, but should work on rotorcraft as well
- generic vector and rung-kutta library
- fix alt init in utm local frame
- settable channel order on mag hmc58xx module