mirror of https://github.com/ArduPilot/ardupilot
26 lines
778 B
Plaintext
26 lines
778 B
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// read_inertia - read inertia in from accelerometers
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static void read_inertia()
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{
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static uint8_t log_counter_inav = 0;
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// inertial altitude estimates
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inertial_nav.update(G_Dt);
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if( motors.armed() && g.log_bitmask & MASK_LOG_INAV ) {
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log_counter_inav++;
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if( log_counter_inav >= 10 ) {
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log_counter_inav = 0;
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Log_Write_INAV();
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}
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}
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}
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// read_inertial_altitude - pull altitude and climb rate from inertial nav library
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static void read_inertial_altitude()
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{
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// with inertial nav we can update the altitude and climb rate at 50hz
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current_loc.alt = inertial_nav.get_altitude();
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climb_rate = inertial_nav.get_velocity_z();
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} |