#include <ao_data.h>
#endif
+#ifndef HAS_KALMAN
+#define HAS_KALMAN 1
+#endif
+
#if HAS_GYRO
#include <ao_quaternion.h>
#endif
#define ACCEL_TYPE int16_t
#endif
-uint16_t ao_sample_tick; /* time of last data */
+AO_TICK_TYPE ao_sample_tick; /* time of last data */
+#if HAS_BARO
pres_t ao_sample_pres;
alt_t ao_sample_alt;
alt_t ao_sample_height;
+#endif
#if HAS_ACCEL
accel_t ao_sample_accel;
#endif
-#if HAS_GYRO
+#if HAS_IMU
accel_t ao_sample_accel_along;
accel_t ao_sample_accel_across;
accel_t ao_sample_accel_through;
+#endif
+#if HAS_GYRO
gyro_t ao_sample_roll;
gyro_t ao_sample_pitch;
gyro_t ao_sample_yaw;
angle_t ao_sample_orients[AO_NUM_ORIENT];
uint8_t ao_sample_orient_pos;
#endif
+#if HAS_MOTOR_PRESSURE
+motor_pressure_t ao_sample_motor_pressure;
+#endif
uint8_t ao_sample_data;
* Sensor calibration values
*/
+#if HAS_BARO
pres_t ao_ground_pres; /* startup pressure */
alt_t ao_ground_height; /* MSL of ao_ground_pres */
+#endif
#if HAS_ACCEL
accel_t ao_ground_accel; /* startup acceleration */
int32_t ao_accel_scale; /* sensor to m/s² conversion */
#endif
-#if HAS_GYRO
+#if HAS_IMU
accel_t ao_ground_accel_along;
accel_t ao_ground_accel_across;
accel_t ao_ground_accel_through;
+#endif
+
+#if HAS_GYRO
int32_t ao_ground_pitch;
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;
+#if HAS_BARO
int32_t ao_sample_pres_sum;
+#endif
#if HAS_ACCEL
int32_t ao_sample_accel_sum;
#endif
-#if HAS_GYRO
+#if HAS_IMU
int32_t ao_sample_accel_along_sum;
int32_t ao_sample_accel_across_sum;
int32_t ao_sample_accel_through_sum;
+#endif
+#if HAS_GYRO
int32_t ao_sample_pitch_sum;
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;
#if HAS_ACCEL
ao_sample_accel_sum += ao_sample_accel;
#endif
+#if HAS_BARO
ao_sample_pres_sum += ao_sample_pres;
-#if HAS_GYRO
+#endif
+#if HAS_IMU
ao_sample_accel_along_sum += ao_sample_accel_along;
ao_sample_accel_across_sum += ao_sample_accel_across;
ao_sample_accel_through_sum += ao_sample_accel_through;
+#endif
+#if HAS_GYRO
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;
}
ao_sample_set_one_orient(void)
{
ao_sample_orients[ao_sample_orient_pos] = ao_sample_orient;
- ao_sample_orient_pos = (ao_sample_orient_pos + 1) % AO_NUM_ORIENT;
+ ao_sample_orient_pos = (uint8_t) ((ao_sample_orient_pos + 1) % AO_NUM_ORIENT);
}
static void
float rotz;
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);
+ ao_sample_orient = (angle_t) (acosf(rotz) * (float) (180.0/M_PI));
}
#endif /* HAS_GYRO */
ao_sample_preflight_set(void)
{
#if HAS_ACCEL
- ao_ground_accel = ao_sample_accel_sum >> 9;
+ ao_ground_accel = (accel_t) (ao_sample_accel_sum >> 9);
ao_sample_accel_sum = 0;
#endif
+#if HAS_BARO
ao_ground_pres = ao_sample_pres_sum >> 9;
ao_ground_height = pres_to_altitude(ao_ground_pres);
ao_sample_pres_sum = 0;
+#endif
+#if HAS_IMU
+ ao_ground_accel_along = (accel_t) (ao_sample_accel_along_sum >> 9);
+ ao_ground_accel_across = (accel_t) (ao_sample_accel_across_sum >> 9);
+ ao_ground_accel_through = (accel_t) (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 = (motor_pressure_t) (ao_sample_motor_pressure_sum >> 9);
+ ao_sample_motor_pressure_sum = 0;
+#endif
#if HAS_GYRO
- 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_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;
*/
ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
#if HAS_FLIGHT_DEBUG
- if (ao_orient_test)
- printf("\n\treset\n");
-#endif
+ if (ao_orient_test) {
+ printf("\n\treset across %d through %d along %d\n",
+ (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));
+ fflush(stdout);
+ }
+#endif
ao_sample_compute_orient();
ao_sample_set_all_orients();
}
#if HAS_GYRO
-
#define TIME_DIV 200.0f
static void
ao_sample_rotate(void)
{
#ifdef AO_FLIGHT_TEST
- float dt = (int16_t) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
+ float dt = (AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
#else
static const float dt = 1/TIME_DIV;
#endif
(int) (y * 1000),
(int) (z * 1000),
ao_sample_orient);
+ fflush(stdout);
}
#endif
ao_sample_compute_orient();
ao_accel_scale = to_fix_32(GRAVITY * 2 * 16) / ao_accel_2g;
#endif
ao_sample_preflight_set();
- ao_preflight = FALSE;
+ ao_preflight = false;
}
}
++nsamples;
else
ao_sample_preflight_set();
+#if !HAS_BARO && HAS_KALMAN
+ if ((nsamples & 0x3f) == 0)
+ ao_kalman_reset_accumulate();
+#endif
}
#if 0
#endif
#if HAS_ACCEL
- ao_sample_accel = ao_data_accel_cook(ao_data);
- if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
- ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
- ao_data_set_accel(ao_data, ao_sample_accel);
+ ao_sample_accel = ao_data_accel(ao_data);
#endif
-#if HAS_GYRO
+#if HAS_IMU
ao_sample_accel_along = ao_data_along(ao_data);
ao_sample_accel_across = ao_data_across(ao_data);
ao_sample_accel_through = ao_data_through(ao_data);
+#endif
+#if HAS_GYRO
ao_sample_pitch = ao_data_pitch(ao_data);
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();
else {
if (ao_flight_state < ao_flight_boost)
ao_sample_preflight_update();
+#if HAS_KALMAN
ao_kalman();
+#endif
#if HAS_GYRO
ao_sample_rotate();
#endif
{
ao_config_get();
nsamples = 0;
+#if HAS_BARO
ao_sample_pres_sum = 0;
ao_sample_pres = 0;
+#endif
#if HAS_ACCEL
ao_sample_accel_sum = 0;
ao_sample_accel = 0;
#endif
-#if HAS_GYRO
+#if HAS_IMU
ao_sample_accel_along_sum = 0;
ao_sample_accel_across_sum = 0;
ao_sample_accel_through_sum = 0;
ao_sample_accel_along = 0;
ao_sample_accel_across = 0;
ao_sample_accel_through = 0;
+#endif
+#if HAS_GYRO
ao_sample_pitch_sum = 0;
ao_sample_yaw_sum = 0;
ao_sample_roll_sum = 0;
ao_sample_set_all_orients();
#endif
ao_sample_data = ao_data_head;
- ao_preflight = TRUE;
+ ao_preflight = true;
}