projects
/
fw
/
altos
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
altos: Changes required by cc1111 multi-spi support
[fw/altos]
/
src
/
core
/
ao_sample.c
diff --git
a/src/core/ao_sample.c
b/src/core/ao_sample.c
index 7a1eff8e7e5f361680b7af8897d2db71e9187bde..dec44f9fa0910aa422ce8e7771c75001aba3fb94 100644
(file)
--- a/
src/core/ao_sample.c
+++ b/
src/core/ao_sample.c
@@
-172,8
+172,8
@@
ao_sample_preflight_update(void)
ao_sample_preflight_set();
}
ao_sample_preflight_set();
}
+#if 0
#if HAS_GYRO
#if HAS_GYRO
-
static int32_t p_filt;
static int32_t y_filt;
static int32_t p_filt;
static int32_t y_filt;
@@
-189,6
+189,7
@@
static gyro_t inline ao_gyro(void) {
return ao_sqrt(p*p + y*y);
}
#endif
return ao_sqrt(p*p + y*y);
}
#endif
+#endif
uint8_t
ao_sample(void)
uint8_t
ao_sample(void)
@@
-217,6
+218,8
@@
ao_sample(void)
#endif
#if HAS_GYRO
ao_sample_accel_along = ao_data_along(ao_data);
#endif
#if HAS_GYRO
ao_sample_accel_along = ao_data_along(ao_data);
+ ao_sample_accel_across = ao_data_across(ao_data);
+ ao_sample_accel_through = ao_data_through(ao_data);
ao_sample_pitch = ao_data_pitch(ao_data);
ao_sample_yaw = ao_data_yaw(ao_data);
ao_sample_roll = ao_data_roll(ao_data);
ao_sample_pitch = ao_data_pitch(ao_data);
ao_sample_yaw = ao_data_yaw(ao_data);
ao_sample_roll = ao_data_roll(ao_data);
@@
-229,8
+232,7
@@
ao_sample(void)
ao_sample_preflight_update();
ao_kalman();
#if HAS_GYRO
ao_sample_preflight_update();
ao_kalman();
#if HAS_GYRO
- ao_sample_angle += ao_gyro();
- ao_sample_roll_angle += (ao_sample_roll - ao_ground_roll);
+ /* do quaternion stuff here... */
#endif
}
ao_sample_data = ao_data_ring_next(ao_sample_data);
#endif
}
ao_sample_data = ao_data_ring_next(ao_sample_data);