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[ins] reset reference position from INS not from NAV

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Nav is (almost) independent of the GPS which is a sensor and should only
be seen by the INS/AHRS subsystems.
It also allow to make shared INS filters more easily (example with
invariant filter).
This commit is contained in:
Gautier Hattenberger
2014-02-26 16:40:01 +01:00
parent 65382229bd
commit def4350302
10 changed files with 244 additions and 65 deletions
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conf/flight_plans/versatile.xml
+2 -2
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@@ -12,8 +12,8 @@
<waypoint name="MOB" x="-11.5" y="-21.2"/>
<waypoint name="S1" x="-151.6" y="80.4"/>
<waypoint name="S2" x="180.1" y="214.9"/>
<waypoint alt="30" name="AF" x="200" y="-10"/>
<waypoint alt="0" name="TD" x="80.0" y="20.0"/>
<waypoint alt="215.0" name="AF" x="200" y="-10"/>
<waypoint alt="185.0" name="TD" x="80.0" y="20.0"/>
<waypoint name="BASELEG" x="26.9" y="-23.0"/>
<waypoint name="_1" x="-100" y="0"/>
<waypoint name="_2" x="-100" y="200"/>