extern alt_t ao_ground_height;
extern alt_t ao_sample_alt;
+double ao_sample_qangle;
+
int ao_sample_prev_tick;
uint16_t prev_tick;
+
#include "ao_kalman.c"
+#include "ao_sqrt.c"
#include "ao_sample.c"
#include "ao_flight.c"
}
static double
-ao_mpu6000_gyro(int16_t sensor)
+ao_mpu6000_gyro(int32_t sensor)
{
return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE;
}
if (!ao_summary) {
printf("%7.2f height %8.2f accel %8.3f "
#if MEGAMETRUM
+ "roll %8.3f angle %8.3f qangle %8.3f "
"accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f "
#endif
"state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
height,
accel,
#if MEGAMETRUM
+ ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0,
+ ao_mpu6000_gyro(ao_sample_angle) / 100.0,
+ ao_sample_qangle,
ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
q_dot.q2 = 0.5 * (ao_orient.q0 * rate_y + ao_orient.q3 * rate_x - ao_orient.q1 * rate_z) + lambda * ao_orient.q2;
q_dot.q3 = 0.5 * (ao_orient.q0 * rate_z + ao_orient.q1 * rate_y - ao_orient.q2 * rate_x) + lambda * ao_orient.q3;
+#if 0
printf ("update_orientation %g %g %g (%g s)\n", rate_x, rate_y, rate_z, dt);
printf ("q_dot (%g) %g %g %g\n",
q_dot.q0,
q_dot.q1,
q_dot.q2,
q_dot.q3);
+#endif
ao_orient.q0 += q_dot.q0 * dt;
ao_orient.q1 += q_dot.q1 * dt;
ao_quat_rot(&ao_current, &ao_up, &ao_orient);
+ ao_sample_qangle = 180 / M_PI * acos(ao_current.q3 * sqrt(2));
+#if 0
printf ("orient (%g) %g %g %g current (%g) %g %g %g\n",
ao_orient.q0,
ao_orient.q1,
ao_current.q1,
ao_current.q2,
ao_current.q3);
+#endif
}
#endif
double rate_y = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y);
double rate_z = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z);
- update_orientation(rate_x, rate_z, rate_y, tick);
+ update_orientation(rate_x * M_PI / 180, rate_z * M_PI / 180, rate_y * M_PI / 180, tick);
}
ao_records_read++;
ao_insert();