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29 lines
647 B
29 lines
647 B
#include "Blimp.h" |
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// return barometric altitude in centimeters |
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void Blimp::read_barometer(void) |
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{ |
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barometer.update(); |
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baro_alt = barometer.get_altitude() * 100.0f; |
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} |
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void Blimp::accel_cal_update() |
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{ |
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if (hal.util->get_soft_armed()) { |
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return; |
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} |
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ins.acal_update(); |
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// check if new trim values, and set them |
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float trim_roll, trim_pitch; |
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if (ins.get_new_trim(trim_roll, trim_pitch)) { |
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ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0)); |
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} |
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#ifdef CAL_ALWAYS_REBOOT |
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if (ins.accel_cal_requires_reboot()) { |
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hal.scheduler->delay(1000); |
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hal.scheduler->reboot(false); |
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} |
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#endif |
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}
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