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. @imu,@gps ins