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altos: Add motor pressure calibration data to easy motor log
[fw/altos]
/
src
/
kernel
/
ao_sample.c
diff --git
a/src/kernel/ao_sample.c
b/src/kernel/ao_sample.c
index 46771496b69a4745cd6ea24597f9fa048c7243ba..874c91100a665ca1f0ec3680e4392ede174e9acc 100644
(file)
--- a/
src/kernel/ao_sample.c
+++ b/
src/kernel/ao_sample.c
@@
-57,6
+57,9
@@
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
+#ifdef HAS_MOTOR_PRESSURE
+motor_pressure_t ao_sample_motor_pressure;
+#endif
uint8_t ao_sample_data;
uint8_t ao_sample_data;
@@
-87,6
+90,10
@@
int32_t ao_ground_yaw;
int32_t ao_ground_roll;
#endif
int32_t ao_ground_roll;
#endif
+#if HAS_MOTOR_PRESSURE
+motor_pressure_t ao_ground_motor_pressure;
+#endif
+
static uint8_t ao_preflight; /* in preflight mode */
static uint16_t nsamples;
static uint8_t ao_preflight; /* in preflight mode */
static uint16_t nsamples;
@@
-107,6
+114,9
@@
int32_t ao_sample_yaw_sum;
int32_t ao_sample_roll_sum;
static struct ao_quaternion ao_rotation;
#endif
int32_t ao_sample_roll_sum;
static struct ao_quaternion ao_rotation;
#endif
+#if HAS_MOTOR_PRESSURE
+int32_t ao_sample_motor_pressure_sum;
+#endif
#if HAS_FLIGHT_DEBUG
extern uint8_t ao_orient_test;
#if HAS_FLIGHT_DEBUG
extern uint8_t ao_orient_test;
@@
-130,6
+140,9
@@
ao_sample_preflight_add(void)
ao_sample_pitch_sum += ao_sample_pitch;
ao_sample_yaw_sum += ao_sample_yaw;
ao_sample_roll_sum += ao_sample_roll;
ao_sample_pitch_sum += ao_sample_pitch;
ao_sample_yaw_sum += ao_sample_yaw;
ao_sample_roll_sum += ao_sample_roll;
+#endif
+#if HAS_MOTOR_PRESSURE
+ ao_sample_motor_pressure_sum += ao_sample_motor_pressure;
#endif
++nsamples;
}
#endif
++nsamples;
}
@@
-199,6
+212,9
@@
ao_sample_preflight_set(void)
ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
#endif
ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
#endif
+#if HAS_MOTOR_PRESSURE
+ ao_ground_motor_pressure = ao_sample_motor_pressure_sum >> 9;
+#endif
#if HAS_GYRO
ao_ground_pitch = ao_sample_pitch_sum;
ao_ground_yaw = ao_sample_yaw_sum;
#if HAS_GYRO
ao_ground_pitch = ao_sample_pitch_sum;
ao_ground_yaw = ao_sample_yaw_sum;
@@
-379,6
+395,9
@@
ao_sample(void)
ao_sample_yaw = ao_data_yaw(ao_data);
ao_sample_roll = ao_data_roll(ao_data);
#endif
ao_sample_yaw = ao_data_yaw(ao_data);
ao_sample_roll = ao_data_roll(ao_data);
#endif
+#if HAS_MOTOR_PRESSURE
+ ao_sample_motor_pressure = ao_data_motor_pressure(ao_data);
+#endif
if (ao_preflight)
ao_sample_preflight();
if (ao_preflight)
ao_sample_preflight();