ardupilot/Tools/AntennaTracker/sensors.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
static void init_barometer(void)
{
gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
barometer.calibrate();
gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
}
// read the barometer and return the updated altitude in meters
static void update_barometer(void)
{
barometer.read();
}
/*
update INS and attitude
*/
static void update_ahrs()
{
ahrs.update();
}
/*
read and update compass
*/
static void update_compass(void)
{
if (g.compass_enabled && compass.read()) {
ahrs.set_compass(&compass);
compass.null_offsets();
} else {
ahrs.set_compass(NULL);
}
}
/*
if the compass is enabled then try to accumulate a reading
*/
static void compass_accumulate(void)
{
if (g.compass_enabled) {
compass.accumulate();
}
}
/*
try to accumulate a baro reading
*/
static void barometer_accumulate(void)
{
barometer.accumulate();
}
/*
read the GPS
*/
static void update_GPS(void)
{
g_gps->update();
}