Version 1.9.6.2

[fw/altos] / src / kernel / ao_sample.c

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 91cf113e3a6ae58880be274bec43653154e485fe..2c77c36920ed5755046e158c9e32f4e92e2d9aae 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
+#ifdef HAS_MOTOR_PRESSURE
+motor_pressure_t       ao_sample_motor_pressure;
+#endif
 
 uint8_t                ao_sample_data;
 
@@ -87,6 +90,10 @@ int32_t              ao_ground_yaw;
 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;
@@ -107,6 +114,9 @@ int32_t ao_sample_yaw_sum;
 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;
@@ -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;
+#endif
+#if HAS_MOTOR_PRESSURE
+       ao_sample_motor_pressure_sum += ao_sample_motor_pressure;
 #endif
        ++nsamples;
 }
@@ -197,15 +210,18 @@ ao_sample_preflight_set(void)
        ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
        ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
        ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
-
+       ao_sample_accel_along_sum = 0;
+       ao_sample_accel_across_sum = 0;
+       ao_sample_accel_through_sum = 0;
+#endif
+#if HAS_MOTOR_PRESSURE
+       ao_ground_motor_pressure = ao_sample_motor_pressure_sum >> 9;
+       ao_sample_motor_pressure_sum = 0;
 #endif
 #if HAS_GYRO
        ao_ground_pitch = ao_sample_pitch_sum;
        ao_ground_yaw = ao_sample_yaw_sum;
        ao_ground_roll = ao_sample_roll_sum;
-       ao_sample_accel_along_sum = 0;
-       ao_sample_accel_across_sum = 0;
-       ao_sample_accel_through_sum = 0;
        ao_sample_pitch_sum = 0;
        ao_sample_yaw_sum = 0;
        ao_sample_roll_sum = 0;
@@ -241,7 +257,7 @@ ao_sample_preflight_set(void)
                       (ao_ground_accel_across - ao_config.accel_zero_across),
                       (ao_ground_accel_through - ao_config.accel_zero_through),
                       (ao_ground_accel_along - ao_config.accel_zero_along));
-#endif 
+#endif
 
        ao_sample_compute_orient();
        ao_sample_set_all_orients();
@@ -322,6 +338,10 @@ ao_sample_preflight_update(void)
                ++nsamples;
        else
                ao_sample_preflight_set();
+#if !HAS_BARO
+       if ((nsamples & 0x3f) == 0)
+               ao_kalman_reset_accumulate();
+#endif
 }
 
 #if 0
@@ -375,6 +395,9 @@ ao_sample(void)
                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();