#define ACCEL_TYPE int16_t
#endif
-__pdata uint16_t ao_sample_tick; /* time of last data */
-__pdata pres_t ao_sample_pres;
-__pdata alt_t ao_sample_alt;
-__pdata alt_t ao_sample_height;
+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
-__pdata accel_t ao_sample_accel;
+accel_t ao_sample_accel;
#endif
#if HAS_GYRO
-__pdata accel_t ao_sample_accel_along;
-__pdata accel_t ao_sample_accel_across;
-__pdata accel_t ao_sample_accel_through;
-__pdata gyro_t ao_sample_roll;
-__pdata gyro_t ao_sample_pitch;
-__pdata gyro_t ao_sample_yaw;
-__pdata angle_t ao_sample_orient;
-__pdata angle_t ao_sample_orients[AO_NUM_ORIENT];
-__pdata uint8_t ao_sample_orient_pos;
+accel_t ao_sample_accel_along;
+accel_t ao_sample_accel_across;
+accel_t ao_sample_accel_through;
+gyro_t ao_sample_roll;
+gyro_t ao_sample_pitch;
+gyro_t ao_sample_yaw;
+angle_t ao_sample_orient;
+angle_t ao_sample_orients[AO_NUM_ORIENT];
+uint8_t ao_sample_orient_pos;
#endif
-__data uint8_t ao_sample_data;
+uint8_t ao_sample_data;
/*
* Sensor calibration values
*/
-__pdata pres_t ao_ground_pres; /* startup pressure */
-__pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */
+#if HAS_BARO
+pres_t ao_ground_pres; /* startup pressure */
+alt_t ao_ground_height; /* MSL of ao_ground_pres */
+#endif
#if HAS_ACCEL
-__pdata accel_t ao_ground_accel; /* startup acceleration */
-__pdata accel_t ao_accel_2g; /* factory accel calibration */
-__pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
+accel_t ao_ground_accel; /* startup acceleration */
+accel_t ao_accel_2g; /* factory accel calibration */
+int32_t ao_accel_scale; /* sensor to m/s² conversion */
#endif
#if HAS_GYRO
-__pdata accel_t ao_ground_accel_along;
-__pdata accel_t ao_ground_accel_across;
-__pdata accel_t ao_ground_accel_through;
-__pdata int32_t ao_ground_pitch;
-__pdata int32_t ao_ground_yaw;
-__pdata int32_t ao_ground_roll;
+accel_t ao_ground_accel_along;
+accel_t ao_ground_accel_across;
+accel_t ao_ground_accel_through;
+int32_t ao_ground_pitch;
+int32_t ao_ground_yaw;
+int32_t ao_ground_roll;
#endif
-static __pdata uint8_t ao_preflight; /* in preflight mode */
+static uint8_t ao_preflight; /* in preflight mode */
-static __pdata uint16_t nsamples;
-__pdata int32_t ao_sample_pres_sum;
+static uint16_t nsamples;
+#if HAS_BARO
+int32_t ao_sample_pres_sum;
+#endif
#if HAS_ACCEL
-__pdata int32_t ao_sample_accel_sum;
+int32_t ao_sample_accel_sum;
#endif
#if HAS_GYRO
-__pdata int32_t ao_sample_accel_along_sum;
-__pdata int32_t ao_sample_accel_across_sum;
-__pdata int32_t ao_sample_accel_through_sum;
-__pdata int32_t ao_sample_pitch_sum;
-__pdata int32_t ao_sample_yaw_sum;
-__pdata int32_t ao_sample_roll_sum;
+int32_t ao_sample_accel_along_sum;
+int32_t ao_sample_accel_across_sum;
+int32_t ao_sample_accel_through_sum;
+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_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();
ao_accel_scale = to_fix_32(GRAVITY * 2 * 16) / ao_accel_2g;
#endif
ao_sample_preflight_set();
- ao_preflight = FALSE;
+ ao_preflight = false;
}
}
uint8_t
ao_sample(void)
{
- ao_wakeup(DATA_TO_XDATA(&ao_sample_data));
- ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
+ ao_wakeup(&ao_sample_data);
+ ao_sleep((void *) &ao_data_head);
while (ao_sample_data != ao_data_head) {
- __xdata struct ao_data *ao_data;
+ struct ao_data *ao_data;
/* Capture a sample */
ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data];
#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;
ao_sample_set_all_orients();
#endif
ao_sample_data = ao_data_head;
- ao_preflight = TRUE;
+ ao_preflight = true;
}