#include <ao_log.h>
#endif
+#if HAS_MPU6000
+#include <ao_quaternion.h>
+#endif
+
#ifndef HAS_ACCEL
#error Please define HAS_ACCEL
#endif
ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
}
break;
+#if HAS_FLIGHT_DEBUG
+ case ao_flight_test:
+#if HAS_GYRO
+ printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
+ ao_sample_orient,
+ ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
+ ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
+ ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
+#endif
+ flush();
+ break;
+#endif /* HAS_FLIGHT_DEBUG */
default:
break;
}
printf (" error_avg %d\n", ao_error_h_sq_avg);
}
+static void
+ao_gyro_test(void)
+{
+ ao_flight_state = ao_flight_test;
+ ao_getchar();
+ ao_flight_state = ao_flight_idle;
+}
+
__code struct ao_cmds ao_flight_cmds[] = {
{ ao_flight_dump, "F\0Dump flight status" },
+ { ao_gyro_test, "G\0Test gyro code" },
{ 0, NULL },
};
#endif