From 46e7d2121faa46f83b6648b0337ba399210e6ffa Mon Sep 17 00:00:00 2001
From: Corvus Corax <corvuscorax@cybertrench.com>
Date: Sun, 19 May 2013 22:49:11 +0200
Subject: [PATCH] fake filter for stationary position data added

---
 .../StateEstimation/filterstationary.c        | 75 +++++++++++++++++++
 1 file changed, 75 insertions(+)
 create mode 100644 flight/modules/StateEstimation/filterstationary.c

diff --git a/flight/modules/StateEstimation/filterstationary.c b/flight/modules/StateEstimation/filterstationary.c
new file mode 100644
index 000000000..b33e3b9f7
--- /dev/null
+++ b/flight/modules/StateEstimation/filterstationary.c
@@ -0,0 +1,75 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup State Estimation
+ * @brief Acquires sensor data and computes state estimate
+ * @{
+ *
+ * @file       filterstationary.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
+ * @brief      Provides "fake" stationary state data for indoor mode
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ ******************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "inc/stateestimation.h"
+
+// Private constants
+
+// Private types
+
+// Private variables
+
+// Private functions
+
+static int32_t init(void);
+static int32_t filter(stateEstimation *state);
+
+
+void filterStationaryInitialize(stateFilter *handle)
+{
+    handle->init   = &init;
+    handle->filter = &filter;
+}
+
+static int32_t init(void)
+{
+    return 0;
+}
+
+static int32_t filter(stateEstimation *state)
+{
+    state->pos[0]   = 0.0f;
+    state->pos[1]   = 0.0f;
+    state->pos[2]   = 0.0f;
+    state->updated |= pos_UPDATED;
+
+    state->vel[0]   = 0.0f;
+    state->vel[1]   = 0.0f;
+    state->vel[2]   = 0.0f;
+    state->updated |= vel_UPDATED;
+
+    return 0;
+}
+
+/**
+ * @}
+ * @}
+ */