uint16_t tick; /* tick when the sample was read */
int16_t accel; /* accelerometer */
int16_t pres; /* pressure sensor */
+ int16_t pres_real; /* unclipped */
int16_t temp; /* temperature sensor */
int16_t v_batt; /* battery voltage */
int16_t sense_d; /* drogue continuity sense */
#define __code
#define __reentrant
+#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define from_fix(x) ((x) >> 16)
+
+/*
+ * Above this height, the baro sensor doesn't work
+ */
+#define AO_MAX_BARO_HEIGHT 12000
+#define AO_BARO_SATURATE 13000
+#define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE)
+
+/*
+ * Above this speed, baro measurements are unreliable
+ */
+#define AO_MAX_BARO_SPEED 200
+
+#define ACCEL_NOSE_UP (ao_accel_2g >> 2)
+
enum ao_flight_state {
ao_flight_startup = 0,
ao_flight_idle = 1,
ao_flight_invalid = 9
};
+extern enum ao_flight_state ao_flight_state;
+
+#define FALSE 0
+#define TRUE 1
+
struct ao_adc ao_adc_ring[AO_ADC_RING];
uint8_t ao_adc_head;
int ao_summary = 0;
#define HAS_ACCEL_REF 0
#endif
-#include "ao_flight.c"
-
-#define to_double(f) ((f) / 65536.0)
-
#define GRAVITY 9.80665
-extern int16_t ao_ground_accel, ao_raw_accel;
+extern int16_t ao_ground_accel, ao_flight_accel;
extern int16_t ao_accel_2g;
+extern uint16_t ao_sample_tick;
+
+extern int16_t ao_sample_height;
+extern int16_t ao_sample_accel;
+extern int32_t ao_accel_scale;
+extern int16_t ao_ground_height;
+extern int16_t ao_sample_alt;
+
+int ao_sample_prev_tick;
uint16_t prev_tick;
+
+#include "ao_kalman.c"
+#include "ao_sample.c"
+#include "ao_flight.c"
+
+#define to_double(f) ((f) / 65536.0)
+
static int ao_records_read = 0;
static int ao_eof_read = 0;
static int ao_flight_ground_accel;
ao_adc_ring[ao_adc_head] = ao_adc_static;
ao_adc_head = ao_adc_ring_next(ao_adc_head);
if (ao_flight_state != ao_flight_startup) {
- double height = ao_pres_to_altitude(ao_raw_pres) - ao_ground_height;
+ double height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
(ao_config.accel_minus_g - ao_config.accel_plus_g);
case 'A':
ao_adc_static.tick = tick;
ao_adc_static.accel = a;
+ ao_adc_static.pres_real = b;
+ if (b < AO_MIN_BARO_VALUE)
+ b = AO_MIN_BARO_VALUE;
ao_adc_static.pres = b;
ao_records_read++;
ao_insert();