// update AHRS system
void Plane::ahrs_update()
{
hal.util->set_soft_armed(arming.is_armed() &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
#if HIL_SUPPORT
if (g.hil_mode == 1) {
// update hil before AHRS update
gcs_update();
}
#endif
ahrs.update();
if (should_log(MASK_LOG_IMU)) {
Log_Write_IMU();
}
// calculate a scaled roll limit based on current pitch
roll_limit_cd = aparm.roll_limit_cd * cosf(ahrs.pitch);
pitch_limit_min_cd = aparm.pitch_limit_min_cd * fabsf(cosf(ahrs.roll));
// updated the summed gyro used for ground steering and
// auto-takeoff. Dot product of DCM.c with gyro vector gives earth
// frame yaw rate
steer_state.locked_course_err += ahrs.get_yaw_rate_earth() * G_Dt;
steer_state.locked_course_err = wrap_PI(steer_state.locked_course_err);
// update inertial_nav for quadplane
quadplane.inertial_nav.update(G_Dt);
}
// update AHRS system
void Plane::ahrs_update()
{
update_soft_armed();
#if HIL_SUPPORT
if (g.hil_mode == 1) {
// update hil before AHRS update
gcs_update();
}
#endif
ahrs.update();
if (should_log(MASK_LOG_IMU)) {
Log_Write_IMU();
}
// calculate a scaled roll limit based on current pitch
roll_limit_cd = aparm.roll_limit_cd;
pitch_limit_min_cd = aparm.pitch_limit_min_cd;
if (!quadplane.tailsitter_active()) {
roll_limit_cd *= ahrs.cos_pitch();
pitch_limit_min_cd *= fabsf(ahrs.cos_roll());
}
// updated the summed gyro used for ground steering and
// auto-takeoff. Dot product of DCM.c with gyro vector gives earth
// frame yaw rate
steer_state.locked_course_err += ahrs.get_yaw_rate_earth() * G_Dt;
steer_state.locked_course_err = wrap_PI(steer_state.locked_course_err);
// update inertial_nav for quadplane
quadplane.inertial_nav.update(G_Dt);
}
/*
do 10Hz logging
*/
void Plane::update_logging1(void)
{
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude();
}
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_IMU))
Log_Write_IMU();
}
