[ins] remove hf|vf_realign from global ins struct

and fix some missing fuctions

conf/settings/control/rotorcraft_guidance.xml

@@ -10,7 +10,6 @@
       <dl_setting var="guidance_v_nominal_throttle" min="0.2" step="0.01" max="0.8" module="guidance/guidance_v" shortname="nominal_throttle" param="GUIDANCE_V_NOMINAL_HOVER_THROTTLE"/>
       <dl_setting var="guidance_v_adapt_throttle_enabled" min="0" step="1" max="1" module="guidance/guidance_v" shortname="adapt_throttle" param="GUIDANCE_V_ADAPT_THROTTLE_ENABLED" values="FALSE|TRUE"/>
       <dl_setting var="guidance_v_z_sp" min="-5" step="0.5" max="3" module="guidance/guidance_v" shortname="sp" unit="2e-8m" alt_unit="m" alt_unit_coef="0.00390625"/>
-      <dl_setting var="ins.vf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="vf_realign" values="OFF|ON"/>
     </dl_settings>
 
     <dl_settings NAME="Horiz Loop">
@@ -22,7 +21,6 @@
       <dl_setting var="guidance_h_again" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ka" param="GUIDANCE_H_AGAIN"/>
       <dl_setting var="guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1"  module="guidance/guidance_h" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
       <dl_setting var="guidance_h_pos_sp.y" MIN="-10" MAX="10" STEP="1"  module="guidance/guidance_h" shortname="sp_y_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
-      <dl_setting var="ins.hf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="hf_realign" values="OFF|ON"/>
     </dl_settings>
 
     <dl_settings NAME="NAV">

sw/airborne/modules/ins/ins_xsens.c

@@ -256,6 +256,25 @@ void ins_periodic(void) {
   xsens_periodic();
 }
 
+void ins_reset_local_origin(void) {
+}
+
+void ins_reset_altitude_ref(void) {
+}
+
+void ins_reset_utm_zone(struct UtmCoor_f * utm) {
+  struct LlaCoor_f lla0;
+  lla_of_utm_f(&lla0, utm);
+#ifdef GPS_USE_LATLONG
+  utm->zone = (DegOfRad(gps.lla_pos.lon/1e7)+180) / 6 + 1;
+#else
+  utm->zone = gps.utm_pos.zone;
+#endif
+  utm_of_lla_f(utm, &lla0);
+
+  stateSetLocalUtmOrigin_f(utm);
+}
+
 void ins_update_gps(void) {
   struct UtmCoor_f utm;
   utm.east = gps.utm_pos.east / 100.;

sw/airborne/subsystems/imu/imu_um6.c

@@ -187,10 +187,6 @@ void imu_impl_init(void) {
 
 
 void imu_periodic(void) {
-  if (ins.vf_realign == TRUE) {
-    UM6_imu_align();
-  }
-
   /* We would request for data here - optional
   //GET_DATA command 0xAE
   buf_out[0] = 's';

sw/airborne/subsystems/imu/imu_um6.h

@@ -37,7 +37,6 @@
 #include "subsystems/imu.h"
 #include "mcu_periph/uart.h"
 #include "subsystems/ahrs.h"
-#include "subsystems/ins.h"
 
 #define __UM6Link(dev, _x) dev##_x
 #define _UM6Link(dev, _x)  __UM6Link(dev, _x)

sw/airborne/subsystems/ins.h

@@ -32,8 +32,10 @@
 #include "math/pprz_algebra_float.h"
 #include "state.h"
 
-#define INS_UNINIT  0
+enum InsStatus {
-#define INS_RUNNING 1
+ INS_UNINIT=0,
+ INS_RUNNING=1
+};
 
 /* underlying includes (needed for parameters) */
 #ifdef INS_TYPE_H
@@ -42,9 +44,7 @@
 
 /** Inertial Navigation System state */
 struct Ins {
-  uint8_t status;     ///< status of the INS
+  enum InsStatus status;     ///< status of the INS
-  bool_t hf_realign;  ///< flag to request to realign horizontal filter to current position (local origin unchanged)
-  bool_t vf_realign;  ///< flag to request to realign vertical filter to ground level (local origin unchanged)
 };
 
 /** global INS state */
@@ -82,16 +82,16 @@ extern void ins_reset_utm_zone(struct UtmCoor_f * utm);
 
 /** INS horizontal realign.
  *  This only reset the filter to a given value, but doesn't change the local reference.
+ *  Needs to be implemented by each INS algorithm.
  *  @param pos new horizontal position to set
  *  @param speed new horizontal speed to set
- *  Needs to be implemented by each INS algorithm.
  */
 extern void ins_realign_h(struct FloatVect2 pos, struct FloatVect2 speed);
 
 /** INS vertical realign.
  *  This only reset the filter to a given value, but doesn't change the local reference.
- *  @param z new altitude to set
  *  Needs to be implemented by each INS algorithm.
+ *  @param z new altitude to set
  */
 extern void ins_realign_v(float z);
 

sw/airborne/subsystems/ins/ins_alt_float.c

@@ -47,9 +47,8 @@
 #warning Please remove the obsolete ALT_KALMAN and ALT_KALMAN_ENABLED defines from your airframe file.
 #endif
 
-/* vertical position and speed in meters (z-up)*/
+
-float ins_alt;
+struct InsAltFloat ins_impl;
-float ins_alt_dot;
 
 #if USE_BAROMETER
 #include "subsystems/sensors/baro.h"
@@ -57,10 +56,6 @@ float ins_alt_dot;
 
 PRINT_CONFIG_MSG("USE_BAROMETER is TRUE: Using baro for altitude estimation.")
 
-float ins_qfe;
-bool_t  ins_baro_initialized;
-float ins_baro_alt;
-
 // Baro event on ABI
 #ifndef INS_BARO_ID
 #define INS_BARO_ID BARO_BOARD_SENDER_ID
@@ -69,8 +64,11 @@ abi_event baro_ev;
 static void baro_cb(uint8_t sender_id, const float *pressure);
 #endif /* USE_BAROMETER */
 
+static void alt_kalman_reset(void);
+static void alt_kalman_init(void);
+static void alt_kalman(float);
 
-void ins_init() {
+void ins_init(void) {
 
   struct UtmCoor_f utm0 = { nav_utm_north0, nav_utm_east0, ground_alt, nav_utm_zone0 };
   stateSetLocalUtmOrigin_f(&utm0);
@@ -80,14 +78,13 @@ void ins_init() {
   alt_kalman_init();
 
 #if USE_BAROMETER
-  ins_qfe = 0;;
+  ins_impl.qfe = 0;;
-  ins_baro_initialized = FALSE;
+  ins_impl.baro_initialized = FALSE;
-  ins_baro_alt = 0.;
+  ins_impl.baro_alt = 0.;
   // Bind to BARO_ABS message
   AbiBindMsgBARO_ABS(INS_BARO_ID, &baro_ev, baro_cb);
 #endif
-  ins.vf_realign = FALSE;
+  ins_impl.reset_alt_ref = FALSE;
-  ins.hf_realign = FALSE;
 
   alt_kalman(0.);
 
@@ -119,7 +116,7 @@ void ins_reset_local_origin( void ) {
   stateSetLocalUtmOrigin_f(&utm);
 
   // reset filter flag
-  ins.vf_realign = TRUE;
+  ins_impl.reset_alt_ref = TRUE;
 }
 
 void ins_reset_altitude_ref(void) {
@@ -129,7 +126,7 @@ void ins_reset_altitude_ref( void ) {
   // reset state UTM ref
   stateSetLocalUtmOrigin_f(&utm);
   // reset filter flag
-  ins.vf_realign = TRUE;
+  ins_impl.reset_alt_ref = TRUE;
 }
 
 void ins_reset_utm_zone(struct UtmCoor_f * utm) {
@@ -148,42 +145,42 @@ void ins_reset_utm_zone(struct UtmCoor_f * utm) {
 void ins_realign_h(struct FloatVect2 pos __attribute__ ((unused)), struct FloatVect2 speed __attribute__ ((unused))) {
 }
 
-void ins_realign_v(float z __attribute__ ((unused))) {
+void ins_realign_v(float z) {
-  ins_alt = z;
+  ins_impl.alt = z;
-  ins_alt_dot = 0.;
+  ins_impl.alt_dot = 0.;
   alt_kalman_reset();
 }
 
-void ins_propagate() {
+void ins_propagate(void) {
 }
 
-void ins_update_baro() {}
+void ins_update_baro(void) {}
 
 #if USE_BAROMETER
 static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pressure) {
-  if (!ins_baro_initialized) {
+  if (!ins_impl.baro_initialized) {
-    ins_qfe = *pressure;
+    ins_impl.qfe = *pressure;
-    ins_baro_initialized = TRUE;
+    ins_impl.baro_initialized = TRUE;
   }
-  if (ins.vf_realign) {
+  if (ins_impl.reset_alt_ref) {
-    ins.vf_realign = FALSE;
+    ins_impl.reset_alt_ref = FALSE;
-    ins_alt = ground_alt;
+    ins_impl.alt = ground_alt;
-    ins_alt_dot = 0.;
+    ins_impl.alt_dot = 0.;
-    ins_qfe = *pressure;
+    ins_impl.qfe = *pressure;
     alt_kalman_reset();
   }
   else { /* not realigning, so normal update with baro measurement */
-    ins_baro_alt = ground_alt + pprz_isa_height_of_pressure(*pressure, ins_qfe);
+    ins_impl.baro_alt = ground_alt + pprz_isa_height_of_pressure(*pressure, ins_impl.qfe);
     /* run the filter */
-    alt_kalman(ins_baro_alt);
+    alt_kalman(ins_impl.baro_alt);
     /* set new altitude, just copy old horizontal position */
     struct UtmCoor_f utm;
     UTM_COPY(utm, *stateGetPositionUtm_f());
-    utm.alt = ins_alt;
+    utm.alt = ins_impl.alt;
     stateSetPositionUtm_f(&utm);
     struct NedCoor_f ned_vel;
     memcpy(&ned_vel, stateGetSpeedNed_f(), sizeof(struct NedCoor_f));
-    ned_vel.z = -ins_alt_dot;
+    ned_vel.z = -ins_impl.alt_dot;
     stateSetSpeedNed_f(&ned_vel);
   }
 }
@@ -200,16 +197,16 @@ void ins_update_gps(void) {
 #if !USE_BAROMETER
   float falt = gps.hmsl / 1000.;
   alt_kalman(falt);
-  ins_alt_dot = -gps.ned_vel.z / 100.;
+  ins_impl.alt_dot = -gps.ned_vel.z / 100.;
 #endif
-  utm.alt = ins_alt;
+  utm.alt = ins_impl.alt;
   // set position
   stateSetPositionUtm_f(&utm);
 
   struct NedCoor_f ned_vel = {
     gps.ned_vel.x / 100.,
     gps.ned_vel.y / 100.,
-    -ins_alt_dot
+    -ins_impl.alt_dot
   };
   // set velocity
   stateSetSpeedNed_f(&ned_vel);
@@ -217,7 +214,7 @@ void ins_update_gps(void) {
 #endif
 }
 
-void ins_update_sonar() {
+void ins_update_sonar(void) {
 }
 
 
@@ -230,18 +227,18 @@ void ins_update_sonar() {
 
 static float p[2][2];
 
-void alt_kalman_reset( void ) {
+static void alt_kalman_reset(void) {
   p[0][0] = 1.;
   p[0][1] = 0.;
   p[1][0] = 0.;
   p[1][1] = 1.;
 }
 
-void alt_kalman_init( void ) {
+static void alt_kalman_init(void) {
   alt_kalman_reset();
 }
 
-void alt_kalman(float z_meas) {
+static void alt_kalman(float z_meas) {
   float DT = GPS_DT;
   float R = GPS_R;
   float SIGMA2 = GPS_SIGMA2;
@@ -292,7 +289,7 @@ void alt_kalman(float z_meas) {
 
 
   /* predict */
-  ins_alt += ins_alt_dot * DT;
+  ins_impl.alt += ins_impl.alt_dot * DT;
   p[0][0] = p[0][0]+p[1][0]*DT+DT*(p[0][1]+p[1][1]*DT) + SIGMA2*q[0][0];
   p[0][1] = p[0][1]+p[1][1]*DT + SIGMA2*q[0][1];
   p[1][0] = p[1][0]+p[1][1]*DT + SIGMA2*q[1][0];
@@ -304,11 +301,11 @@ void alt_kalman(float z_meas) {
   if (fabs(e) > 1e-5) {
     float k_0 = p[0][0] / e;
     float k_1 =  p[1][0] / e;
-    e = z_meas - ins_alt;
+    e = z_meas - ins_impl.alt;
 
     /* correction */
-    ins_alt += k_0 * e;
+    ins_impl.alt += k_0 * e;
-    ins_alt_dot += k_1 * e;
+    ins_impl.alt_dot += k_1 * e;
 
     p[1][0] = -p[0][0]*k_1+p[1][0];
     p[1][1] = -p[0][1]*k_1+p[1][1];

sw/airborne/subsystems/ins/ins_alt_float.h

@@ -33,17 +33,20 @@
 #include <inttypes.h>
 #include "std.h"
 
-extern float ins_alt; ///< estimated altitude above MSL in meters
+/** Ins implementation state (altitude, float) */
-extern float ins_alt_dot; ///< estimated vertical speed in m/s (positive-up)
+struct InsAltFloat {
+  float alt;     ///< estimated altitude above MSL in meters
+  float alt_dot; ///< estimated vertical speed in m/s (positive-up)
+
+  bool_t reset_alt_ref;  ///< flag to request reset of altitude reference to current alt
 
 #if USE_BAROMETER
-extern float ins_qfe;
+  float qfe;
-extern float ins_baro_alt;
+  float baro_alt;
-extern bool_t ins_baro_initialized;
+  bool_t baro_initialized;
 #endif
+};
 
-extern void alt_kalman_reset( void );
+extern struct InsAltFloat ins_impl;
-extern void alt_kalman_init( void );
-extern void alt_kalman( float );
 
 #endif /* INS_ALT_FLOAT_H */

sw/airborne/subsystems/ins/ins_ardrone2.c

@@ -63,9 +63,6 @@ void ins_init() {
   ins_impl.ltp_initialized  = FALSE;
 #endif
 
-  ins.vf_realign = FALSE;
-  ins.hf_realign = FALSE;
-
   INT32_VECT3_ZERO(ins_impl.ltp_pos);
   INT32_VECT3_ZERO(ins_impl.ltp_speed);
   INT32_VECT3_ZERO(ins_impl.ltp_accel);

sw/airborne/subsystems/ins/ins_float_invariant.c

@@ -181,7 +181,7 @@ static const struct FloatVect3 A = { 0.f, 0.f, 9.81f };
 static const struct FloatVect3 B = { (float)(INS_H_X), (float)(INS_H_Y), (float)(INS_H_Z) };
 
 /* barometer */
-bool_t ins_baro_initialised;
+bool_t ins_baro_initialized;
 // Baro event on ABI
 #ifndef INS_BARO_ID
 #define INS_BARO_ID BARO_BOARD_SENDER_ID
@@ -211,7 +211,7 @@ static inline void init_invariant_state(void) {
   ins_impl.meas.baro_alt = 0.;
 
   // init baro
-  ins_baro_initialised = FALSE;
+  ins_baro_initialized = FALSE;
 }
 
 void ins_init() {
@@ -261,8 +261,7 @@ void ins_init() {
   ins_impl.gains.sh   = INS_INV_SH;
 
   ins.status = INS_UNINIT;
-  ins.hf_realign = FALSE;
+  ins_impl.reset = FALSE;
-  ins.vf_realign = FALSE;
 
 #if !INS_UPDATE_FW_ESTIMATOR && PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "INS_REF", send_ins_ref);
@@ -298,8 +297,6 @@ void ins_reset_local_origin( void ) {
   ltp_def.hmsl = gps.hmsl;
   stateSetLocalOrigin_i(&ltp_def);
 #endif
-  ins.hf_realign = FALSE;
-  ins.vf_realign = FALSE;
 }
 
 void ins_reset_altitude_ref( void ) {
@@ -313,7 +310,6 @@ void ins_reset_altitude_ref( void ) {
   ltp_def.hmsl = gps.hmsl;
   stateSetLocalOrigin_i(&ltp_def);
 #endif
-  ins.vf_realign = FALSE;
 }
 
 #if INS_UPDATE_FW_ESTIMATOR
@@ -361,12 +357,11 @@ void ahrs_propagate(void) {
 
   // realign all the filter if needed
   // a complete init cycle is required
-  if (ins.hf_realign || ins.vf_realign) {
+  if (ins_impl.reset) {
+    ins_impl.reset = FALSE;
     ins.status = INS_UNINIT;
     ahrs.status = AHRS_UNINIT;
     init_invariant_state();
-    ins.hf_realign = FALSE;
-    ins.vf_realign = FALSE;
   }
 
   // fill command vector
@@ -513,7 +508,7 @@ static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pres
   static float baro_moy = 0.;
   static float baro_prev = 0.;
 
-  if (!ins_baro_initialised) {
+  if (!ins_baro_initialized) {
     // try to find a stable qfe
     // TODO generic function in pprz_isa ?
     if (i == 1) {
@@ -526,11 +521,11 @@ static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pres
     // test stop condition
     if (fabs(alpha) < 0.005) {
       ins_qfe = baro_moy;
-      ins_baro_initialised = TRUE;
+      ins_baro_initialized = TRUE;
     }
     if (i == 250) {
       ins_qfe = *pressure;
-      ins_baro_initialised = TRUE;
+      ins_baro_initialized = TRUE;
     }
     i++;
   }

sw/airborne/subsystems/ins/ins_float_invariant.h

@@ -107,6 +107,8 @@ struct InsFloatInv {
   struct inv_command cmd;             ///< command vector
   struct inv_correction_gains corr;   ///< correction gains
   struct inv_gains gains;             ///< tuning gains
+
+  bool_t reset;                       ///< flag to request reset/reinit the filter
 };
 
 extern struct InsFloatInv ins_impl;

sw/airborne/subsystems/ins/ins_gps_passthrough.c

@@ -34,7 +34,7 @@
 #include "subsystems/gps.h"
 #include "subsystems/nav.h"
 
-void ins_init() {
+void ins_init(void) {
   struct UtmCoor_f utm0 = { nav_utm_north0, nav_utm_east0, 0., nav_utm_zone0 };
   stateSetLocalUtmOrigin_f(&utm0);
   stateSetPositionUtm_f(&utm0);
@@ -45,6 +45,19 @@ void ins_init() {
 void ins_periodic(void) {
 }
 
+void ins_reset_utm_zone(struct UtmCoor_f * utm) {
+  struct LlaCoor_f lla0;
+  lla_of_utm_f(&lla0, utm);
+#ifdef GPS_USE_LATLONG
+  utm->zone = (DegOfRad(gps.lla_pos.lon/1e7)+180) / 6 + 1;
+#else
+  utm->zone = gps.utm_pos.zone;
+#endif
+  utm_of_lla_f(utm, &lla0);
+
+  stateSetLocalUtmOrigin_f(utm);
+}
+
 void ins_reset_local_origin(void) {
   struct UtmCoor_f utm;
 #ifdef GPS_USE_LATLONG
@@ -71,9 +84,6 @@ void ins_reset_altitude_ref( void ) {
   stateSetLocalUtmOrigin_f(&utm);
 }
 
-void ins_realign_h(struct FloatVect2 pos __attribute__ ((unused)), struct FloatVect2 speed __attribute__ ((unused))) {}
-void ins_realign_v(float z __attribute__ ((unused))) {}
-
 void ins_update_gps(void) {
   struct UtmCoor_f utm;
   utm.east = gps.utm_pos.east / 100.;
@@ -94,13 +104,13 @@ void ins_update_gps(void) {
 }
 
 
-void ins_propagate() {
+void ins_propagate(void) {
 }
 
-void ins_update_baro() {
+void ins_update_baro(void) {
 }
 
-void ins_update_sonar() {
+void ins_update_sonar(void) {
 }
 
 void ins_realign_h(struct FloatVect2 pos __attribute__ ((unused)), struct FloatVect2 speed __attribute__ ((unused))) {

sw/airborne/subsystems/ins/ins_int.c

@@ -142,8 +142,8 @@ void ins_init(void) {
   ins_impl.sonar_offset = INS_SONAR_OFFSET;
 #endif
 
-  ins.vf_realign = FALSE;
+  ins_impl.vf_reset = FALSE;
-  ins.hf_realign = FALSE;
+  ins_impl.hf_realign = FALSE;
 
   /* init vertical and horizontal filters */
 #if USE_VFF_EXTENDED
@@ -171,12 +171,27 @@ void ins_periodic(void) {
     ins.status = INS_RUNNING;
 }
 
+void ins_reset_utm_zone(struct UtmCoor_f * utm) {
+#if USE_GPS
+  struct LlaCoor_f lla0;
+  lla_of_utm_f(&lla0, utm);
+#ifdef GPS_USE_LATLONG
+  utm->zone = (DegOfRad(gps.lla_pos.lon/1e7)+180) / 6 + 1;
+#else
+  utm->zone = gps.utm_pos.zone;
+#endif
+  utm_of_lla_f(utm, &lla0);
+
+  stateSetLocalUtmOrigin_f(utm);
+#endif
+}
+
 void ins_reset_local_origin(void) {
   ins_impl.ltp_initialized = FALSE;
 #if USE_HFF
-  ins.hf_realign = TRUE;
+  ins_impl.hf_realign = TRUE;
 #endif
-  ins.vf_realign = TRUE;
+  ins_impl.vf_reset = TRUE;
 }
 
 void ins_reset_altitude_ref(void) {
@@ -185,7 +200,7 @@ void ins_reset_altitude_ref( void ) {
   ins_impl.ltp_def.hmsl = gps.hmsl;
   stateSetLocalOrigin_i(&ins_impl.ltp_def);
 #endif
-  ins.vf_realign = TRUE;
+  ins_impl.vf_reset = TRUE;
 }
 
 #if USE_HFF
@@ -204,7 +219,7 @@ void ins_realign_v(float z) {
   ins_update_from_vff();
 }
 
-void ins_propagate() {
+void ins_propagate(void) {
   /* untilt accels */
   struct Int32Vect3 accel_meas_body;
   INT32_RMAT_TRANSP_VMULT(accel_meas_body, imu.body_to_imu_rmat, imu.accel);
@@ -240,8 +255,8 @@ static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pres
     ins_impl.qfe = *pressure;
     ins_impl.baro_initialized = TRUE;
   }
-  if (ins.vf_realign) {
+  if (ins_impl.vf_reset) {
-    ins.vf_realign = FALSE;
+    ins_impl.vf_reset = FALSE;
     ins_impl.qfe = *pressure;
     vff_realign(0.);
     ins_update_from_vff();
@@ -258,7 +273,7 @@ static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pres
 }
 
 
-void ins_update_baro() {
+void ins_update_baro(void) {
 }
 
 
@@ -289,8 +304,8 @@ void ins_update_gps(void) {
     VECT2_ASSIGN(gps_speed_m_s_ned, gps_speed_cm_s_ned.x, gps_speed_cm_s_ned.y);
     VECT2_SDIV(gps_speed_m_s_ned, gps_speed_m_s_ned, 100.);
 
-    if (ins.hf_realign) {
+    if (ins_impl.hf_realign) {
-      ins.hf_realign = FALSE;
+      ins_impl.hf_realign = FALSE;
       const struct FloatVect2 zero = {0.0, 0.0};
       b2_hff_realign(gps_pos_m_ned, zero);
     }
@@ -328,7 +343,7 @@ uint8_t var_idx = 0;
 #endif
 
 
-void ins_update_sonar() {
+void ins_update_sonar(void) {
 #if USE_SONAR
   static float last_offset = 0.;
   // new value filtered with median_filter

sw/airborne/subsystems/ins/ins_int.h

@@ -43,6 +43,16 @@ struct InsInt {
   struct LtpDef_i  ltp_def;
   bool_t           ltp_initialized;
 
+  /** request to realign horizontal filter.
+   * Sets to current position (local origin unchanged).
+   */
+  bool_t hf_realign;
+
+  /** request to reset vertical filter.
+   * Sets the z-position to zero and resets the the z-reference to current altitude.
+   */
+  bool_t vf_reset;
+
   /* output LTP NED */
   struct NedCoor_i ltp_pos;
   struct NedCoor_i ltp_speed;