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27 lines
1.0 KiB
27 lines
1.0 KiB
#include "Copter.h" |
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// read_inertia - read inertia in from accelerometers |
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void Copter::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_position_z_up_cm(); |
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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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