ardupilot/ArduSub/inertia.cpp

26 lines
660 B
C++

#include "Sub.h"
// read_inertia - read inertia in from accelerometers
void Sub::read_inertia()
{
// inertial altitude estimates
inertial_nav.update();
// pull position from ahrs
Location loc;
ahrs.get_position(loc);
current_loc.lat = loc.lat;
current_loc.lng = loc.lng;
// exit immediately if we do not have an altitude estimate
if (!inertial_nav.get_filter_status().flags.vert_pos) {
return;
}
current_loc.alt = inertial_nav.get_position_z_up_cm();
// get velocity, altitude is always absolute frame, referenced from
// water's surface
climb_rate = inertial_nav.get_velocity_z_up_cms();
}