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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: Wed, 26 Feb 2014 07:43:41 -0800

  Branch: refs/heads/ins_reset
  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).

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