[ins] convert ins subsystems to modules

and get rid of ins calls in main and register functions

conf/conf_tests.xml

@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/nps.xml settings/control/stabilization_att_float_euler.xml"
-   settings_modules=""
+   settings_modules="modules/gps.xml"
    gui_color="#ffff954c0000"
   />
   <aircraft
@@ -73,7 +73,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
-   settings_modules="modules/airspeed_adc.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/airspeed_adc.xml modules/gps.xml modules/gps_ubx_ucenter.xml"
    gui_color="#ffff7d7d0000"
   />
   <aircraft
@@ -172,7 +172,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/nav_modules.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/control/ctl_dash_loiter_trim.xml settings/nps.xml"
-   settings_modules="modules/air_data.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
+   settings_modules="modules/gps.xml modules/air_data.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
    gui_color="blue"
   />
   <aircraft
@@ -183,7 +183,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules=""
+   settings_modules="modules/gps.xml"
    gui_color="blue"
   />
   <aircraft
@@ -194,7 +194,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules=""
+   settings_modules="modules/gps.xml"
    gui_color="blue"
   />
   <aircraft
@@ -216,7 +216,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
    settings="settings/fixedwing_basic.xml settings/nps.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_skid_landing.xml"
+   settings_modules="modules/gps.xml modules/nav_survey_poly_osam.xml modules/nav_skid_landing.xml"
    gui_color="#00009e93ffff"
   />
   <aircraft
@@ -260,7 +260,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/nps.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
    gui_color="white"
   />
   <aircraft
@@ -304,7 +304,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/infrared_adc.xml"
+   settings_modules="modules/gps.xml modules/infrared_adc.xml"
    gui_color="#ba6293"
   />
   <aircraft
@@ -392,7 +392,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml"
+   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml"
    gui_color="red"
   />
   <aircraft

conf/modules/ins.xml

@@ -0,0 +1,19 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="ins">
+  <doc>
+    <description>
+      simple INS with vertical filter.
+    </description>
+  </doc>
+  <header>
+    <file name="ins_int.h" dir="subsystems/ins"/>
+  </header>
+  <init fun="ins_int_init()"/>
+  <makefile target="ap|nps">
+    <define name="INS_TYPE_H" value="subsystems/ins/ins_int.h" type="string"/>
+    <file name="ins.c" dir="subsystems"/>
+    <file name="ins_int.c" dir="subsystems/ins"/>
+    <file name="vf_float.c" dir="subsystems/ins"/>
+  </makefile>
+</module>