[ins] EKF2 fix localization of global waypoints (#2704)

sw/airborne/subsystems/ins/ins_ekf2.cpp

@@ -27,6 +27,7 @@
  */
 
 #include "subsystems/ins/ins_ekf2.h"
+#include "subsystems/navigation/waypoints.h"
 #include "subsystems/abi.h"
 #include "stabilization/stabilization_attitude.h"
 #include "generated/airframe.h"
@@ -347,6 +348,9 @@ void ins_ekf2_update(void)
         ltp_def_from_lla_i(&ekf2.ltp_def, &lla_ref);
         stateSetLocalOrigin_i(&ekf2.ltp_def);
 
+        /* update local ENU coordinates of global waypoints */
+        waypoints_localize_all();
+
         ekf2.ltp_stamp = origin_time;
       }
     }

sw/airborne/subsystems/navigation/waypoints.h

@@ -26,6 +26,10 @@
 #ifndef WAYPOINTS_H
 #define WAYPOINTS_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "std.h"
 #include "math/pprz_geodetic_int.h"
 #include "math/pprz_geodetic_float.h"
@@ -128,4 +132,8 @@ extern void waypoint_localize(uint8_t wp_id);
 /** update local ENU coordinates of all global waypoints */
 extern void waypoints_localize_all(void);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* WAYPOINTS_H */