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