static struct ao_quaternion ao_rotation;
#endif
+#if HAS_FLIGHT_DEBUG
+extern uint8_t ao_orient_test;
+#endif
+
static void
ao_sample_preflight_add(void)
{
* that as the current rotation vector
*/
ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
+#if HAS_FLIGHT_DEBUG
+ if (ao_orient_test)
+ printf("\n\treset\n");
#endif
+#endif
nsamples = 0;
}
#if HAS_GYRO
+
+#define TIME_DIV 200.0f
+
static void
ao_sample_rotate(void)
{
#ifdef AO_FLIGHT_TEST
- float dt = (ao_sample_tick - ao_sample_prev_tick) / 100.0;
+ float dt = (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
#else
- static const float dt = 1/100.0;
+ static const float dt = 1/TIME_DIV;
#endif
float x = ao_mpu6000_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
float y = ao_mpu6000_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
float z = ao_mpu6000_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
struct ao_quaternion rot;
- struct ao_quaternion point;
-
- /* The amount of rotation is just the length of the vector. Now,
- * here's the trick -- assume that the rotation amount is small. In this case,
- * sin(x) ≃ x, so we can just make this the sin.
- */
- n_2 = x*x + y*y + z*z;
- n = sqrtf(n_2);
- s = n / 2;
- if (s > 1)
- s = 1;
- c = sqrtf(1 - s*s);
-
- /* Make unit vector */
- if (n > 0) {
- x /= n;
- y /= n;
- z /= n;
- }
-
- /* Now compute the unified rotation quaternion */
-
- ao_quaternion_init_rotation(&rot,
- x, y, z,
- s, c);
-
- /* Integrate with the previous rotation amount */
- ao_quaternion_multiply(&ao_rotation, &ao_rotation, &rot);
+ ao_quaternion_init_half_euler(&rot, x, y, z);
+ ao_quaternion_multiply(&ao_rotation, &rot, &ao_rotation);
/* And normalize to make sure it remains a unit vector */
ao_quaternion_normalize(&ao_rotation, &ao_rotation);
rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
+
+#if HAS_FLIGHT_DEBUG
+ if (ao_orient_test) {
+ printf ("rot %d %d %d orient %d \r",
+ (int) (x * 1000),
+ (int) (y * 1000),
+ (int) (z * 1000),
+ ao_sample_orient);
+ }
+#endif
+
}
#endif