mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 22:18:28 -04:00
Copter: update current_loc at 400hz
This commit is contained in:
parent
f45c69e7ad
commit
13c26eab67
@ -300,9 +300,6 @@ void Copter::rc_loop()
|
||||
// ---------------------------
|
||||
void Copter::throttle_loop()
|
||||
{
|
||||
// get altitude and climb rate from inertial lib
|
||||
read_inertial_altitude();
|
||||
|
||||
// update throttle_low_comp value (controls priority of throttle vs attitude control)
|
||||
update_throttle_thr_mix();
|
||||
|
||||
|
@ -877,7 +877,6 @@ private:
|
||||
bool heli_stabilize_init(bool ignore_checks);
|
||||
void heli_stabilize_run();
|
||||
void read_inertia();
|
||||
void read_inertial_altitude();
|
||||
bool land_complete_maybe();
|
||||
void update_land_and_crash_detectors();
|
||||
void update_land_detector();
|
||||
@ -906,7 +905,6 @@ private:
|
||||
void motors_output();
|
||||
void lost_vehicle_check();
|
||||
void run_nav_updates(void);
|
||||
void calc_position();
|
||||
void calc_distance_and_bearing();
|
||||
void calc_wp_distance();
|
||||
void calc_wp_bearing();
|
||||
|
@ -7,11 +7,11 @@ void Copter::read_inertia()
|
||||
{
|
||||
// inertial altitude estimates
|
||||
inertial_nav.update(G_Dt);
|
||||
}
|
||||
|
||||
// read_inertial_altitude - pull altitude and climb rate from inertial nav library
|
||||
void Copter::read_inertial_altitude()
|
||||
{
|
||||
// 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;
|
||||
|
@ -7,9 +7,6 @@
|
||||
// To-Do - rename and move this function to make it's purpose more clear
|
||||
void Copter::run_nav_updates(void)
|
||||
{
|
||||
// fetch position from inertial navigation
|
||||
calc_position();
|
||||
|
||||
// calculate distance and bearing for reporting and autopilot decisions
|
||||
calc_distance_and_bearing();
|
||||
|
||||
@ -17,14 +14,6 @@ void Copter::run_nav_updates(void)
|
||||
run_autopilot();
|
||||
}
|
||||
|
||||
// calc_position - get lat and lon positions from inertial nav library
|
||||
void Copter::calc_position()
|
||||
{
|
||||
// pull position from interial nav library
|
||||
current_loc.lng = inertial_nav.get_longitude();
|
||||
current_loc.lat = inertial_nav.get_latitude();
|
||||
}
|
||||
|
||||
// calc_distance_and_bearing - calculate distance and bearing to next waypoint and home
|
||||
void Copter::calc_distance_and_bearing()
|
||||
{
|
||||
|
Loading…
Reference in New Issue
Block a user