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23 lines
599 B
C++
23 lines
599 B
C++
#include "Sub.h"
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// read_inertia - read inertia in from accelerometers
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void Sub::read_inertia()
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{
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// inertial altitude estimates
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sub.pos_control.update_estimates();
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// pull position from ahrs
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Location loc;
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// AHRS provides a best-guess in case of failure
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UNUSED_RESULT(ahrs.get_location(loc));
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current_loc.lat = loc.lat;
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current_loc.lng = loc.lng;
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// exit immediately if we do not have an altitude estimate
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if (!AP::ahrs().has_status(AP_AHRS::Status::VERT_POS)) {
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return;
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}
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current_loc.alt = pos_control.get_pos_estimate_U_m() * 100.0f;
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}
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