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;
*/
ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
#if HAS_FLIGHT_DEBUG
- if (ao_orient_test)
+ 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));
-#endif
+ fflush(stdout);
+ }
+#endif
ao_sample_compute_orient();
ao_sample_set_all_orients();
}
#if HAS_GYRO
-
#define TIME_DIV 200.0f
static void
(int) (y * 1000),
(int) (z * 1000),
ao_sample_orient);
+ fflush(stdout);
}
#endif
ao_sample_compute_orient();