mirror of https://github.com/ArduPilot/ardupilot
99 lines
2.3 KiB
Plaintext
99 lines
2.3 KiB
Plaintext
// -*- 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.learn_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)
|
|
{
|
|
gps.update();
|
|
|
|
static uint32_t last_gps_msg_ms;
|
|
static uint8_t ground_start_count = 5;
|
|
if (gps.last_message_time_ms() != last_gps_msg_ms &&
|
|
gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
|
|
last_gps_msg_ms = gps.last_message_time_ms();
|
|
|
|
if(ground_start_count > 1) {
|
|
ground_start_count--;
|
|
} else if (ground_start_count == 1) {
|
|
// We countdown N number of good GPS fixes
|
|
// so that the altitude is more accurate
|
|
// -------------------------------------
|
|
if (current_loc.lat == 0) {
|
|
ground_start_count = 5;
|
|
|
|
} else {
|
|
// Now have an initial GPS position
|
|
// use it as the HOME position in future startups
|
|
current_loc = gps.location();
|
|
set_home(current_loc);
|
|
|
|
// set system clock for log timestamps
|
|
hal.util->set_system_clock(gps.time_epoch_usec());
|
|
|
|
if (g.compass_enabled) {
|
|
// Set compass declination automatically
|
|
compass.set_initial_location(gps.location().lat, gps.location().lng);
|
|
}
|
|
ground_start_count = 0;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|