From 1911c7360d38802b7b20ba6eae0e8af5e27ca7e0 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 28 Feb 2012 22:49:17 -0600
Subject: [PATCH] New NEDPosition object which is the transformed GPS location

---
 flight/Modules/Attitude/revolution/attitude.c        | 11 +++++++++++
 flight/Revolution/UAVObjects.inc                     |  1 +
 .../src/plugins/uavobjects/uavobjects.pro            |  2 ++
 shared/uavobjectdefinition/nedposition.xml           | 12 ++++++++++++
 4 files changed, 26 insertions(+)
 create mode 100644 shared/uavobjectdefinition/nedposition.xml

diff --git a/flight/Modules/Attitude/revolution/attitude.c b/flight/Modules/Attitude/revolution/attitude.c
index 4d1796ba7..f7f5e1545 100644
--- a/flight/Modules/Attitude/revolution/attitude.c
+++ b/flight/Modules/Attitude/revolution/attitude.c
@@ -60,6 +60,7 @@
 #include "velocityactual.h"
 #include "gpsposition.h"
 #include "baroaltitude.h"
+#include "nedposition.h"
 #include "flightstatus.h"
 #include "homelocation.h"
 #include "gpsposition.h"
@@ -116,6 +117,7 @@ int32_t AttitudeInitialize(void)
 {
 	AttitudeActualInitialize();
 	AttitudeSettingsInitialize();
+	NEDPositionInitialize();
 	PositionActualInitialize();
 	VelocityActualInitialize();
 	
@@ -621,6 +623,15 @@ static int32_t updateAttitudeINSGPS(bool first_run)
 			(float) (home.ECEF[1] / 100.0f),
 			(float) (home.ECEF[2] / 100.0f)};
 		LLA2Base(LLA, ECEF, (float (*)[3]) home.RNE, NED);
+
+		// Store this for inspecting offline
+		NEDPositionData nedPos;
+		NEDPositionGet(&nedPos);
+		nedPos.North = NED[0];
+		nedPos.East = NED[1];
+		nedPos.Down = NED[2];
+		NEDPositionSet(&nedPos);
+
 	} else if (!outdoor_mode) {
 		INSSetPosVelVar(1e-2f, 1e-2f);
 		vel[0] = vel[1] = vel[2] = 0;
diff --git a/flight/Revolution/UAVObjects.inc b/flight/Revolution/UAVObjects.inc
index d91eb9c17..359fd497c 100644
--- a/flight/Revolution/UAVObjects.inc
+++ b/flight/Revolution/UAVObjects.inc
@@ -55,6 +55,7 @@ UAVOBJSRCFILENAMES += manualcontrolsettings
 UAVOBJSRCFILENAMES += mixersettings
 UAVOBJSRCFILENAMES += mixerstatus
 UAVOBJSRCFILENAMES += nedaccel
+UAVOBJSRCFILENAMES += nedposition
 UAVOBJSRCFILENAMES += objectpersistence
 UAVOBJSRCFILENAMES += overosyncstats
 UAVOBJSRCFILENAMES += positionactual
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
index 456d25047..9e8a38295 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
@@ -71,6 +71,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/flightplancontrol.h \
     $$UAVOBJECT_SYNTHETICS/watchdogstatus.h \
     $$UAVOBJECT_SYNTHETICS/nedaccel.h \
+    $$UAVOBJECT_SYNTHETICS/nedposition.h \
     $$UAVOBJECT_SYNTHETICS/sonaraltitude.h \
     $$UAVOBJECT_SYNTHETICS/flightstatus.h \
     $$UAVOBJECT_SYNTHETICS/hwsettings.h \
@@ -129,6 +130,7 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/flightplancontrol.cpp \
     $$UAVOBJECT_SYNTHETICS/watchdogstatus.cpp \
     $$UAVOBJECT_SYNTHETICS/nedaccel.cpp \
+    $$UAVOBJECT_SYNTHETICS/nedposition.cpp \
     $$UAVOBJECT_SYNTHETICS/sonaraltitude.cpp \
     $$UAVOBJECT_SYNTHETICS/uavobjectsinit.cpp \
     $$UAVOBJECT_SYNTHETICS/flightstatus.cpp \
diff --git a/shared/uavobjectdefinition/nedposition.xml b/shared/uavobjectdefinition/nedposition.xml
new file mode 100644
index 000000000..7fc6eb315
--- /dev/null
+++ b/shared/uavobjectdefinition/nedposition.xml
@@ -0,0 +1,12 @@
+<xml>
+    <object name="NEDPosition" singleinstance="true" settings="false">
+        <description>Contains the current position relative to @ref HomeLocation</description>
+        <field name="North" units="m" type="float" elements="1"/>
+        <field name="East" units="m" type="float" elements="1"/>
+        <field name="Down" units="m" type="float" elements="1"/>
+        <access gcs="readwrite" flight="readwrite"/>
+        <telemetrygcs acked="false" updatemode="manual" period="0"/>
+        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <logging updatemode="periodic" period="1000"/>
+    </object>
+</xml>