#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;
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;
#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;
#if HAS_BARO
ao_sample_pres_sum += ao_sample_pres;
#endif
-#if HAS_GYRO
+#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;
ao_ground_height = pres_to_altitude(ao_ground_pres);
ao_sample_pres_sum = 0;
#endif
-#if HAS_GYRO
+#if HAS_IMU
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;
+
+#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_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();
#if HAS_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);
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;