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32 lines
1.0 KiB
32 lines
1.0 KiB
/// -*- 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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} |
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// read_inertial_altitude - pull altitude and climb rate from inertial nav library |
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void Sub::read_inertial_altitude() |
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{ |
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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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