2015-05-29 23:12:49 -03:00
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#include "Copter.h"
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2012-11-07 06:03:30 -04:00
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// read_inertia - read inertia in from accelerometers
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2015-05-29 23:12:49 -03:00
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void Copter::read_inertia()
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2012-06-26 02:17:04 -03:00
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{
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2012-11-07 06:03:30 -04:00
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// inertial altitude estimates
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inertial_nav.update(G_Dt);
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2013-02-01 23:00:09 -04:00
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2016-04-19 04:16:06 -03:00
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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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2015-05-13 03:24:52 -03:00
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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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2015-02-26 01:17:02 -04:00
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return;
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}
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2015-05-13 03:24:52 -03:00
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// without home return alt above the EKF origin
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2018-03-15 22:23:28 -03:00
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if (!ahrs.home_is_set()) {
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2015-05-13 03:24:52 -03:00
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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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2019-01-01 20:09:02 -04:00
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current_loc.relative_alt = true;
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2013-02-01 23:00:09 -04:00
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climb_rate = inertial_nav.get_velocity_z();
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2013-04-23 10:03:34 -03:00
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}
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