[paparazzi-commits] [paparazzi/paparazzi] 9dbee4: [modules] add ins_skeleton (#1575)

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 9dbee4e59c888abc5d8d86947987e76ec86e4530
      
https://github.com/paparazzi/paparazzi/commit/9dbee4e59c888abc5d8d86947987e76ec86e4530
  Author: Felix Ruess <address@hidden>
  Date:   2016-05-18 (Wed, 18 May 2016)

  Changed paths:
    A conf/modules/ins_skeleton.xml
    A sw/airborne/modules/ins/ins_skeleton.c
    A sw/airborne/modules/ins/ins_skeleton.h

  Log Message:
  -----------
  [modules] add ins_skeleton (#1575)

INS module skeleton.
This module is meant to be used with an additional module which implements any 
of the following
  - ins_module_init()
  - ins_module_propagate(struct Int32Vect3 *accel, float dt)
  - ins_module_update_gps(struct GpsState *gps_s, float dt)
  - ins_module_update_baro(float pressure)
  - ins_module_reset_local_origin(void)

In each of those functions the updated estimate has to be written to the 
ins_module struct,
which is then used to update the state interface.