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altos: Support normalized log
[fw/altos]
/
src
/
kernel
/
ao_sample.h
diff --git
a/src/kernel/ao_sample.h
b/src/kernel/ao_sample.h
index 4c51a58c3f0a0089f893f3004a239b3e37d7b3cf..8e64095b79a407478d1f5af3082f3e26fedbee81 100644
(file)
--- a/
src/kernel/ao_sample.h
+++ b/
src/kernel/ao_sample.h
@@
-133,16
+133,21
@@
extern accel_t ao_ground_accel; /* startup acceleration */
extern accel_t ao_accel_2g; /* factory accel calibration */
extern int32_t ao_accel_scale; /* sensor to m/s² conversion */
#endif
extern accel_t ao_accel_2g; /* factory accel calibration */
extern int32_t ao_accel_scale; /* sensor to m/s² conversion */
#endif
-#if HAS_
GYRO
+#if HAS_
IMU
extern accel_t ao_ground_accel_along;
extern accel_t ao_ground_accel_across;
extern accel_t ao_ground_accel_through;
extern accel_t ao_ground_accel_along;
extern accel_t ao_ground_accel_across;
extern accel_t ao_ground_accel_through;
-extern int32_t ao_ground_pitch; /* * 512 */
-extern int32_t ao_ground_yaw; /* * 512 */
-extern int32_t ao_ground_roll; /* * 512 */
extern accel_t ao_sample_accel_along;
extern accel_t ao_sample_accel_across;
extern accel_t ao_sample_accel_through;
extern accel_t ao_sample_accel_along;
extern accel_t ao_sample_accel_across;
extern accel_t ao_sample_accel_through;
+#endif
+#if HAS_GYRO
+#ifndef HAS_IMU
+#define HAS_IMU 1
+#endif
+extern int32_t ao_ground_pitch; /* * 512 */
+extern int32_t ao_ground_yaw; /* * 512 */
+extern int32_t ao_ground_roll; /* * 512 */
extern gyro_t ao_sample_roll;
extern gyro_t ao_sample_pitch;
extern gyro_t ao_sample_yaw;
extern gyro_t ao_sample_roll;
extern gyro_t ao_sample_pitch;
extern gyro_t ao_sample_yaw;
@@
-151,6
+156,10
@@
extern angle_t ao_sample_orient;
extern angle_t ao_sample_orients[AO_NUM_ORIENT];
extern uint8_t ao_sample_orient_pos;
#endif
extern angle_t ao_sample_orients[AO_NUM_ORIENT];
extern uint8_t ao_sample_orient_pos;
#endif
+#if HAS_MOTOR_PRESSURE
+extern motor_pressure_t ao_ground_motor_pressure;
+extern motor_pressure_t ao_sample_motor_pressure;
+#endif
void ao_sample_init(void);
void ao_sample_init(void);
@@
-194,4
+203,8
@@
extern ao_v_t ao_error_a;
void ao_kalman(void);
void ao_kalman(void);
+#if !HAS_BARO
+void ao_kalman_reset_accumulate(void);
+#endif
+
#endif /* _AO_SAMPLE_H_ */
#endif /* _AO_SAMPLE_H_ */