ardupilot/ArduCopter/inertia.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
// read_inertia - read inertia in from accelerometers
void Copter::read_inertia()
{
// inertial altitude estimates
inertial_nav.update(G_Dt);
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// pull position from interial nav library
current_loc.lng = inertial_nav.get_longitude();
current_loc.lat = inertial_nav.get_latitude();
// exit immediately if we do not have an altitude estimate
if (!inertial_nav.get_filter_status().flags.vert_pos) {
return;
}
// without home return alt above the EKF origin
if (ap.home_state == HOME_UNSET) {
// with inertial nav we can update the altitude and climb rate at 50hz
current_loc.alt = inertial_nav.get_altitude();
} else {
// with inertial nav we can update the altitude and climb rate at 50hz
current_loc.alt = pv_alt_above_home(inertial_nav.get_altitude());
}
// set flags and get velocity
current_loc.flags.relative_alt = true;
climb_rate = inertial_nav.get_velocity_z();
}