From 119ed0c103e39037d9b7e86a7e0f71ea81c8c084 Mon Sep 17 00:00:00 2001 From: Josh Henderson Date: Wed, 20 Oct 2021 04:31:19 -0400 Subject: [PATCH] Blimp: INAV rename for neu & cm/cms --- Blimp/AP_Arming.cpp | 4 ++-- Blimp/inertia.cpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Blimp/AP_Arming.cpp b/Blimp/AP_Arming.cpp index 1f825e77f1..ca731050ed 100644 --- a/Blimp/AP_Arming.cpp +++ b/Blimp/AP_Arming.cpp @@ -69,7 +69,7 @@ bool AP_Arming_Blimp::barometer_checks(bool display_failure) nav_filter_status filt_status = blimp.inertial_nav.get_filter_status(); bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs); if (using_baro_ref) { - if (fabsf(blimp.inertial_nav.get_altitude() - blimp.baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) { + if (fabsf(blimp.inertial_nav.get_position_z_up_cm() - blimp.baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) { check_failed(ARMING_CHECK_BARO, display_failure, "Altitude disparity"); ret = false; } @@ -364,7 +364,7 @@ bool AP_Arming_Blimp::arm(const AP_Arming::Method method, const bool do_arming_c } // remember the height when we armed - blimp.arming_altitude_m = blimp.inertial_nav.get_altitude() * 0.01; + blimp.arming_altitude_m = blimp.inertial_nav.get_position_z_up_cm() * 0.01; } hal.util->set_soft_armed(true); diff --git a/Blimp/inertia.cpp b/Blimp/inertia.cpp index 874612a69e..046468e992 100644 --- a/Blimp/inertia.cpp +++ b/Blimp/inertia.cpp @@ -18,7 +18,7 @@ void Blimp::read_inertia() } // current_loc.alt is alt-above-home, converted from inertial nav's alt-above-ekf-origin - const int32_t alt_above_origin_cm = inertial_nav.get_altitude(); + const int32_t alt_above_origin_cm = inertial_nav.get_position_z_up_cm(); current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_ORIGIN); if (!ahrs.home_is_set() || !current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME)) { // if home has not been set yet we treat alt-above-origin as alt-above-home