ardupilot/ArduCopter/inertia.cpp

28 lines
831 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::AltFrame frame;
if (ahrs.home_is_set()) {
frame = Location::AltFrame::ABOVE_HOME;
} else {
// without home use alt above the EKF origin
frame = Location::AltFrame::ABOVE_ORIGIN;
}
current_loc.set_alt_cm(inertial_nav.get_altitude(), frame);
current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME);
}