[paparazzi-commits] [paparazzi/paparazzi] 1ca990: [ins] start considering BODY_TO_GPS translation

[GitHub]

  Branch: refs/heads/body_to_gps_translation
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 1ca9905533f7421618f34f40e0208dee6142f4f2
      
https://github.com/paparazzi/paparazzi/commit/1ca9905533f7421618f34f40e0208dee6142f4f2
  Author: Felix Ruess <address@hidden>
  Date:   2015-03-19 (Thu, 19 Mar 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)