[paparazzi-commits] [paparazzi/paparazzi] 5eb1cc: [modules] add ins_skeleton

[GitHub]

  Branch: refs/heads/ins_module
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 5eb1ccb4fb56d706d991948cbe4026ca06bbc6d6
      
https://github.com/paparazzi/paparazzi/commit/5eb1ccb4fb56d706d991948cbe4026ca06bbc6d6
  Author: Felix Ruess <address@hidden>
  Date:   2016-04-26 (Tue, 26 Apr 2016)

  Changed paths:
    A conf/modules/ins_skeleton.xml
    A sw/airborne/modules/ins/ins_skeleton.c
    A sw/airborne/modules/ins/ins_skeleton.h

  Log Message:
  -----------
  [modules] add ins_skeleton

INS module skeleton.
This module is meant to be used with an additional module which implements any 
of the following
  - ins_module_init()
  - ins_module_propagate(struct Int32Vect3 *accel, float dt)
  - ins_module_update_gps(struct GpsState *gps_s, float dt)
  - ins_module_update_baro(float pressure)
  - ins_module_reset_local_origin(void)

In each of those functions the updated estimate has to be written to the 
ins_module struct,
which is then used to update the state interface.