#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;
*/
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));
+ fflush(stdout);
+ }
#endif
ao_sample_compute_orient();
}
#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();