mirror of https://github.com/ArduPilot/ardupilot
31 lines
915 B
C++
31 lines
915 B
C++
#include "Copter.h"
|
|
|
|
// read_inertia - read inertia in from accelerometers
|
|
void Copter::read_inertia()
|
|
{
|
|
// inertial altitude estimates
|
|
inertial_nav.update(G_Dt);
|
|
|
|
// pull position from interial nav library
|
|
current_loc.lng = inertial_nav.get_longitude();
|
|
current_loc.lat = inertial_nav.get_latitude();
|
|
|
|
// exit immediately if we do not have an altitude estimate
|
|
if (!inertial_nav.get_filter_status().flags.vert_pos) {
|
|
return;
|
|
}
|
|
|
|
Location::ALT_FRAME frame;
|
|
if (ahrs.home_is_set()) {
|
|
frame = Location::ALT_FRAME_ABOVE_HOME;
|
|
} else {
|
|
// without home use alt above the EKF origin
|
|
frame = Location::ALT_FRAME_ABOVE_ORIGIN;
|
|
}
|
|
current_loc.set_alt_cm(inertial_nav.get_altitude(), frame);
|
|
current_loc.change_alt_frame(Location::ALT_FRAME_ABOVE_HOME);
|
|
|
|
// set flags and get velocity
|
|
climb_rate = inertial_nav.get_velocity_z();
|
|
}
|