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30 lines
0 B
30 lines
0 B
4 years ago
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#include "Blimp.h"
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// return barometric altitude in centimeters
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void Blimp::read_barometer(void)
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{
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barometer.update();
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baro_alt = barometer.get_altitude() * 100.0f;
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}
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void Blimp::accel_cal_update()
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{
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if (hal.util->get_soft_armed()) {
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return;
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}
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ins.acal_update();
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// check if new trim values, and set them
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float trim_roll, trim_pitch;
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if (ins.get_new_trim(trim_roll, trim_pitch)) {
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ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
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}
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#ifdef CAL_ALWAYS_REBOOT
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if (ins.accel_cal_requires_reboot()) {
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hal.scheduler->delay(1000);
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hal.scheduler->reboot(false);
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}
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#endif
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}
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