mirror of https://github.com/ArduPilot/ardupilot
134 lines
3.1 KiB
C++
134 lines
3.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Tracker.h"
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void Tracker::init_barometer(void)
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{
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gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
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barometer.calibrate();
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gcs_send_text(MAV_SEVERITY_INFO, "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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void Tracker::update_barometer(void)
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{
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barometer.update();
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if (should_log(MASK_LOG_IMU)) {
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Log_Write_Baro();
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}
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}
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/*
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update INS and attitude
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*/
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void Tracker::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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void Tracker::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.learn_offsets();
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if (should_log(MASK_LOG_COMPASS)) {
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DataFlash.Log_Write_Compass(compass);
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}
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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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void Tracker::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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void Tracker::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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calibrate compass
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*/
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void Tracker::compass_cal_update() {
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if (!hal.util->get_soft_armed()) {
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compass.compass_cal_update();
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}
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}
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/*
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Accel calibration
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*/
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void Tracker::accel_cal_update() {
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if (hal.util->get_soft_armed()) {
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return;
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}
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ins.acal_update();
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float trim_roll, trim_pitch;
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if(ins.get_new_trim(trim_roll, trim_pitch)) {
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ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
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}
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}
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/*
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read the GPS
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*/
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void Tracker::update_GPS(void)
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{
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gps.update();
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static uint32_t last_gps_msg_ms;
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static uint8_t ground_start_count = 5;
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if (gps.last_message_time_ms() != last_gps_msg_ms &&
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gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
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last_gps_msg_ms = gps.last_message_time_ms();
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if(ground_start_count > 1) {
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ground_start_count--;
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} else if (ground_start_count == 1) {
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// We countdown N number of good GPS fixes
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// so that the altitude is more accurate
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// -------------------------------------
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if (current_loc.lat == 0) {
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ground_start_count = 5;
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} else {
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// Now have an initial GPS position
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// use it as the HOME position in future startups
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current_loc = gps.location();
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set_home(current_loc);
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// set system clock for log timestamps
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hal.util->set_system_clock(gps.time_epoch_usec());
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if (g.compass_enabled) {
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// Set compass declination automatically
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compass.set_initial_location(gps.location().lat, gps.location().lng);
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}
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ground_start_count = 0;
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}
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}
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// log GPS data
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if (should_log(MASK_LOG_GPS)) {
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DataFlash.Log_Write_GPS(gps, 0, current_loc.alt);
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}
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}
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}
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