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25 lines
739 B
25 lines
739 B
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include "Sub.h" |
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// read_inertia - read inertia in from accelerometers |
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void Sub::read_inertia() |
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{ |
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// inertial altitude estimates |
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inertial_nav.update(G_Dt); |
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// pull position from interial nav library |
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current_loc.lng = inertial_nav.get_longitude(); |
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current_loc.lat = inertial_nav.get_latitude(); |
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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 = inertial_nav.get_altitude(); |
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// get velocity, altitude is always absolute frame, referenced from |
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// water's surface |
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climb_rate = inertial_nav.get_velocity_z(); |
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}
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