#endif
uint16_t 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
* 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 */
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_ACCEL
ao_sample_accel_sum += ao_sample_accel;
#endif
+#if HAS_BARO
ao_sample_pres_sum += ao_sample_pres;
+#endif
#if HAS_GYRO
ao_sample_accel_along_sum += ao_sample_accel_along;
ao_sample_accel_across_sum += ao_sample_accel_across;
ao_ground_accel = 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_GYRO
ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
#if HAS_FLIGHT_DEBUG
if (ao_orient_test)
- printf("\n\treset\n");
+ 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));
#endif
ao_sample_compute_orient();
#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
ao_sample_accel_along = ao_data_along(ao_data);
{
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;