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30 lines
994 B
30 lines
994 B
#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 |
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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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// without home return alt above the EKF origin |
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if (ap.home_state == HOME_UNSET) { |
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// with inertial nav we can update the altitude and climb rate at 50hz |
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current_loc.alt = inertial_nav.get_altitude(); |
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} else { |
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// with inertial nav we can update the altitude and climb rate at 50hz |
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current_loc.alt = pv_alt_above_home(inertial_nav.get_altitude()); |
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} |
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// set flags and get velocity |
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current_loc.flags.relative_alt = true; |
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climb_rate = inertial_nav.get_velocity_z(); |
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}
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