mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.1 KiB
Plaintext
66 lines
1.1 KiB
Plaintext
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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static void init_barometer(void)
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{
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gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
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barometer.calibrate();
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gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
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}
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// read the barometer and return the updated altitude in meters
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static void update_barometer(void)
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{
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barometer.read();
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}
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/*
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update INS and attitude
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*/
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static void update_ahrs()
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{
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ahrs.update();
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}
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/*
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read and update compass
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*/
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static void update_compass(void)
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{
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if (g.compass_enabled && compass.read()) {
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ahrs.set_compass(&compass);
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compass.null_offsets();
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} else {
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ahrs.set_compass(NULL);
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}
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}
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/*
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if the compass is enabled then try to accumulate a reading
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*/
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static void compass_accumulate(void)
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{
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if (g.compass_enabled) {
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compass.accumulate();
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}
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}
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/*
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try to accumulate a baro reading
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*/
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static void barometer_accumulate(void)
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{
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barometer.accumulate();
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}
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/*
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read the GPS
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*/
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static void update_GPS(void)
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{
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g_gps->update();
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}
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