altos: Rename 'core' to 'kernel'

[fw/altos] / src / core / ao_microflight.c

diff --git a/src/core/ao_microflight.c b/src/core/ao_microflight.c
deleted file mode 100644 (file)
index f680e40..0000000
--- a/src/core/ao_microflight.c
+++ /dev/null
@@ -1,143 +0,0 @@
-/*
- * Copyright © 2013 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include <ao.h>
-#endif
-#include <ao_micropeak.h>
-#include <ao_log_micro.h>
-
-uint32_t       pa;
-uint32_t       pa_ground;
-uint32_t       pa_min;
-
-static void
-ao_microsample(void)
-{
-       ao_pa_get();
-       ao_microkalman_predict();
-       ao_microkalman_correct();
-}
-
-#define NUM_PA_HIST    (GROUND_AVG)
-
-#define SKIP_PA_HIST(i,j)      (((i) + (j)) & (NUM_PA_HIST - 1))
-
-static uint32_t        pa_hist[NUM_PA_HIST];
-
-void
-ao_microflight(void)
-{
-       int16_t         sample_count;
-       uint16_t        time;
-       uint32_t        pa_interval_min, pa_interval_max;
-       int32_t         pa_diff;
-       uint8_t         h, i;
-       uint8_t         accel_lock = 0;
-       uint32_t        pa_sum = 0;
-
-       /* Wait for motion, averaging values to get ground pressure */
-
-       time = ao_time();
-       ao_pa_get();
-       ao_microkalman_init();
-       pa_ground = pa;
-       sample_count = 0;
-       h = 0;
-       for (;;) {
-               time += SAMPLE_SLEEP;
-               if ((sample_count & 0x1f) == 0)
-                       ao_led_on(AO_LED_REPORT);
-               ao_delay_until(time);
-               ao_microsample();
-               if ((sample_count & 0x1f) == 0)
-                       ao_led_off(AO_LED_REPORT);
-               pa_hist[h] = pa;
-               h = SKIP_PA_HIST(h,1);
-               pa_diff = pa_ground - ao_pa;
-
-               /* Check for a significant pressure change */
-               if (pa_diff > BOOST_DETECT)
-                       break;
-
-               if (sample_count < GROUND_AVG * 2) {
-                       if (sample_count < GROUND_AVG)
-                               pa_sum += pa;
-                       ++sample_count;
-               } else {
-                       pa_ground = pa_sum >> GROUND_AVG_SHIFT;
-                       pa_sum = 0;
-                       sample_count = 0;
-               }
-       }
-
-       /* Go back and find the last sample close to the ground */
-       pa_min = pa_ground - LAND_DETECT;
-       for (i = SKIP_PA_HIST(h,-2); i != SKIP_PA_HIST(h,2); i = SKIP_PA_HIST(i,-2)) {
-               if (pa_hist[i] >= pa_min)
-                       break;
-       }
-
-       /* Log the remaining samples so we get a complete history since leaving the ground */
-       for (; i != h; i = SKIP_PA_HIST(i,2)) {
-               pa = pa_hist[i];
-               ao_log_micro_data();
-       }
-
-       /* Now sit around until the pressure is stable again and record the max */
-
-       sample_count = 0;
-       pa_min = ao_pa;
-       pa_interval_min = ao_pa;
-       pa_interval_max = ao_pa;
-       for (;;) {
-               time += SAMPLE_SLEEP;
-               ao_delay_until(time);
-               if ((sample_count & 3) == 0)
-                       ao_led_on(AO_LED_REPORT);
-               ao_microsample();
-               if ((sample_count & 3) == 0)
-                       ao_led_off(AO_LED_REPORT);
-               if (sample_count & 1)
-                       ao_log_micro_data();
-
-               /* If accelerating upwards, don't look for min pressure */
-               if (ao_pa_accel < ACCEL_LOCK_PA)
-                       accel_lock = ACCEL_LOCK_TIME;
-               else if (accel_lock)
-                       --accel_lock;
-               else if (ao_pa < pa_min)
-                       pa_min = ao_pa;
-
-               if (sample_count == (GROUND_AVG - 1)) {
-                       pa_diff = pa_interval_max - pa_interval_min;
-
-                       /* Check to see if the pressure is now stable */
-                       if (pa_diff < LAND_DETECT)
-                               break;
-                       sample_count = 0;
-                       pa_interval_min = ao_pa;
-                       pa_interval_max = ao_pa;
-               } else {
-                       if (ao_pa < pa_interval_min)
-                               pa_interval_min = ao_pa;
-                       if (ao_pa > pa_interval_max)
-                               pa_interval_max = ao_pa;
-                       ++sample_count;
-               }
-       }
-}