#include "Blimp.h"

// return barometric altitude in centimeters
void Blimp::read_barometer(void)
{
    barometer.update();

    baro_alt = barometer.get_altitude() * 100.0f;
}

void Blimp::accel_cal_update()
{
    if (hal.util->get_soft_armed()) {
        return;
    }
    ins.acal_update();
    // check if new trim values, and set them
    float trim_roll, trim_pitch;
    if (ins.get_new_trim(trim_roll, trim_pitch)) {
        ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
    }

#ifdef CAL_ALWAYS_REBOOT
    if (ins.accel_cal_requires_reboot()) {
        hal.scheduler->delay(1000);
        hal.scheduler->reboot(false);
    }
#endif
}