[paparazzi-commits] [paparazzi/paparazzi] 3cf191: [ins] start considering BODY_TO_GPS translation

[GitHub]

  Branch: refs/heads/body_to_gps_translation
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 3cf1919ebcabee2af321ea5034e574db7f25c4c3
      
https://github.com/paparazzi/paparazzi/commit/3cf1919ebcabee2af321ea5034e574db7f25c4c3
  Author: Felix Ruess <address@hidden>
  Date:   2015-01-29 (Thu, 29 Jan 2015)

  Changed paths:
    M sw/airborne/math/pprz_algebra_int.h
    M sw/airborne/subsystems/ins/ins_int.c

  Log Message:
  -----------
  [ins] start considering BODY_TO_GPS translation

If INS_BODY_TO_GPS_X|Y|Z is defined (in cm!) use it to correct for this offset 
in the INS gps position update.

Todo:
- also consider this offset when (re)setting local origin
- consider this offset/lever for velocity updates (when angular rates != zero)