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28 lines
1.0 KiB
28 lines
1.0 KiB
4 years ago
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#include "Blimp.h"
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// read_inertia - read inertia in from accelerometers
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void Blimp::read_inertia()
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{
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// inertial altitude estimates. Use barometer climb rate during high vibrations
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inertial_nav.update(vibration_check.high_vibes);
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// pull position from ahrs
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Location loc;
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ahrs.get_position(loc);
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current_loc.lat = loc.lat;
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current_loc.lng = loc.lng;
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// exit immediately if we do not have an altitude estimate
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if (!inertial_nav.get_filter_status().flags.vert_pos) {
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return;
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}
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// current_loc.alt is alt-above-home, converted from inertial nav's alt-above-ekf-origin
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const int32_t alt_above_origin_cm = inertial_nav.get_altitude();
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current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_ORIGIN);
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if (!ahrs.home_is_set() || !current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME)) {
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// if home has not been set yet we treat alt-above-origin as alt-above-home
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current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_HOME);
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}
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}
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