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Copter: update current_loc at 400hz

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This commit is contained in:
Randy Mackay 2016-04-19 16:16:06 +09:00
parent f45c69e7ad
commit 13c26eab67
4 changed files with 4 additions and 20 deletions
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3
ArduCopter/ArduCopter.cpp
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@ -300,9 +300,6 @@ void Copter::rc_loop()
// --------------------------- // ---------------------------
void Copter::throttle_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_low_comp value (controls priority of throttle vs attitude control)
update_throttle_thr_mix(); update_throttle_thr_mix();

2
ArduCopter/Copter.h
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@ -877,7 +877,6 @@ private:
bool heli_stabilize_init(bool ignore_checks); bool heli_stabilize_init(bool ignore_checks);
void heli_stabilize_run(); void heli_stabilize_run();
void read_inertia(); void read_inertia();
void read_inertial_altitude();
bool land_complete_maybe(); bool land_complete_maybe();
void update_land_and_crash_detectors(); void update_land_and_crash_detectors();
void update_land_detector(); void update_land_detector();
@ -906,7 +905,6 @@ private:
void motors_output(); void motors_output();
void lost_vehicle_check(); void lost_vehicle_check();
void run_nav_updates(void); void run_nav_updates(void);
void calc_position();
void calc_distance_and_bearing(); void calc_distance_and_bearing();
void calc_wp_distance(); void calc_wp_distance();
void calc_wp_bearing(); void calc_wp_bearing();

8
ArduCopter/inertia.cpp
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@ -7,11 +7,11 @@ void Copter::read_inertia()
{ {
// inertial altitude estimates // inertial altitude estimates
inertial_nav.update(G_Dt); inertial_nav.update(G_Dt);
}
// read_inertial_altitude - pull altitude and climb rate from inertial nav library // pull position from interial nav library
void Copter::read_inertial_altitude() current_loc.lng = inertial_nav.get_longitude();
{ current_loc.lat = inertial_nav.get_latitude();
// exit immediately if we do not have an altitude estimate // exit immediately if we do not have an altitude estimate
if (!inertial_nav.get_filter_status().flags.vert_pos) { if (!inertial_nav.get_filter_status().flags.vert_pos) {
return; return;

11
ArduCopter/navigation.cpp
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@ -7,9 +7,6 @@
// To-Do - rename and move this function to make it's purpose more clear // To-Do - rename and move this function to make it's purpose more clear
void Copter::run_nav_updates(void) void Copter::run_nav_updates(void)
{ {
// fetch position from inertial navigation
calc_position();
// calculate distance and bearing for reporting and autopilot decisions // calculate distance and bearing for reporting and autopilot decisions
calc_distance_and_bearing(); calc_distance_and_bearing();
@ -17,14 +14,6 @@ void Copter::run_nav_updates(void)
run_autopilot(); 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 // calc_distance_and_bearing - calculate distance and bearing to next waypoint and home
void Copter::calc_distance_and_bearing() void Copter::calc_distance_and_bearing()
{ {