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altos: Compute igniter good/bad thresholds using 3.5V value
[fw/altos]
/
src
/
kernel
/
ao_sample.c
diff --git
a/src/kernel/ao_sample.c
b/src/kernel/ao_sample.c
index 3f5fc7a98c557af012d053dd0b14068305f6924b..422ccec610332c78fc8286cf26670c6c5a62fd1f 100644
(file)
--- a/
src/kernel/ao_sample.c
+++ b/
src/kernel/ao_sample.c
@@
-21,6
+21,10
@@
#include <ao_data.h>
#endif
#include <ao_data.h>
#endif
+#ifndef HAS_KALMAN
+#define HAS_KALMAN 1
+#endif
+
#if HAS_GYRO
#include <ao_quaternion.h>
#endif
#if HAS_GYRO
#include <ao_quaternion.h>
#endif
@@
-57,7
+61,7
@@
angle_t ao_sample_orient;
angle_t ao_sample_orients[AO_NUM_ORIENT];
uint8_t ao_sample_orient_pos;
#endif
angle_t ao_sample_orients[AO_NUM_ORIENT];
uint8_t ao_sample_orient_pos;
#endif
-#if
def
HAS_MOTOR_PRESSURE
+#if HAS_MOTOR_PRESSURE
motor_pressure_t ao_sample_motor_pressure;
#endif
motor_pressure_t ao_sample_motor_pressure;
#endif
@@
-340,7
+344,7
@@
ao_sample_preflight_update(void)
++nsamples;
else
ao_sample_preflight_set();
++nsamples;
else
ao_sample_preflight_set();
-#if !HAS_BARO
+#if !HAS_BARO
&& HAS_KALMAN
if ((nsamples & 0x3f) == 0)
ao_kalman_reset_accumulate();
#endif
if ((nsamples & 0x3f) == 0)
ao_kalman_reset_accumulate();
#endif
@@
-406,7
+410,9
@@
ao_sample(void)
else {
if (ao_flight_state < ao_flight_boost)
ao_sample_preflight_update();
else {
if (ao_flight_state < ao_flight_boost)
ao_sample_preflight_update();
+#if HAS_KALMAN
ao_kalman();
ao_kalman();
+#endif
#if HAS_GYRO
ao_sample_rotate();
#endif
#if HAS_GYRO
ao_sample_rotate();
#endif