mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.6 KiB
C++
61 lines
1.6 KiB
C++
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#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::compass_cal_update()
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{
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compass.cal_update();
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if (hal.util->get_soft_armed()) {
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return;
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}
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static uint32_t compass_cal_stick_gesture_begin = 0;
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if (compass.is_calibrating()) {
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if (channel_yaw->get_control_in() < -4000 && channel_down->get_control_in() > 900) {
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compass.cancel_calibration_all();
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}
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} else {
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bool stick_gesture_detected = compass_cal_stick_gesture_begin != 0 && !motors->armed() && channel_yaw->get_control_in() > 4000 && channel_down->get_control_in() > 900;
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uint32_t tnow = millis();
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if (!stick_gesture_detected) {
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compass_cal_stick_gesture_begin = tnow;
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} else if (tnow-compass_cal_stick_gesture_begin > 1000*COMPASS_CAL_STICK_GESTURE_TIME) {
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#ifdef CAL_ALWAYS_REBOOT
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compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,true);
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#else
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compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,false);
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#endif
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}
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}
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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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