[paparazzi-commits] [paparazzi/paparazzi] def435: [ins] reset reference position from INS not from N...

[GitHub]

  Branch: refs/heads/ins_reset
  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).