ardupilot/ArduSub/inertia.cpp

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#include "Sub.h"
// read_inertia - read inertia in from accelerometers
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void Sub::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;
}
current_loc.alt = inertial_nav.get_altitude();
// get velocity, altitude is always absolute frame, referenced from
// water's surface
climb_rate = inertial_nav.get_velocity_z();
}