X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao_sample.c;h=b2b8e9f63ff662385054b6a904797f38e6c77ce9;hb=fa6df3fa21e8f09e70371e6c6cc7827a533b4fe6;hp=ef403393cb6c276fbd81c38c46cbe4f559d3dd1a;hpb=c754759a2d503633d527da4ebb20eb859cd506fd;p=fw%2Faltos

diff --git a/src/ao_sample.c b/src/ao_sample.c
index ef403393..b2b8e9f6 100644
--- a/src/ao_sample.c
+++ b/src/ao_sample.c
@@ -37,21 +37,21 @@ __data uint8_t		ao_sample_adc;
  * Sensor calibration values
  */
 
-__xdata int16_t		ao_ground_pres;		/* startup pressure */
-__xdata int16_t		ao_ground_height;	/* MSL of ao_ground_pres */
+__pdata int16_t		ao_ground_pres;		/* startup pressure */
+__pdata int16_t		ao_ground_height;	/* MSL of ao_ground_pres */
 
 #if HAS_ACCEL
-__xdata int16_t		ao_ground_accel;	/* startup acceleration */
-__xdata int16_t		ao_accel_2g;		/* factory accel calibration */
-__xdata int32_t		ao_accel_scale;		/* sensor to m/s² conversion */
+__pdata int16_t		ao_ground_accel;	/* startup acceleration */
+__pdata int16_t		ao_accel_2g;		/* factory accel calibration */
+__pdata int32_t		ao_accel_scale;		/* sensor to m/s² conversion */
 #endif
 
-static __xdata uint8_t	ao_preflight;		/* in preflight mode */
+static __pdata uint8_t	ao_preflight;		/* in preflight mode */
 
-static __xdata uint16_t	nsamples;
-__xdata int32_t ao_sample_pres_sum;
+static __pdata uint16_t	nsamples;
+__pdata int32_t ao_sample_pres_sum;
 #if HAS_ACCEL
-__xdata int32_t ao_sample_accel_sum;
+__pdata int32_t ao_sample_accel_sum;
 #endif
 
 static void
@@ -68,16 +68,17 @@ ao_sample_preflight(void)
 #endif
 		ao_sample_pres_sum += ao_sample_pres;
 		++nsamples;
-		ao_preflight = FALSE;
-	}
-	ao_config_get();
+	} else {
+		ao_config_get();
 #if HAS_ACCEL
-	ao_ground_accel = ao_sample_accel_sum >> 9;
-	ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
-	ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
+		ao_ground_accel = ao_sample_accel_sum >> 9;
+		ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
+		ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
 #endif
-	ao_ground_pres = ao_sample_pres_sum >> 9;
-	ao_ground_height = ao_pres_to_altitude(ao_ground_pres);
+		ao_ground_pres = ao_sample_pres_sum >> 9;
+		ao_ground_height = ao_pres_to_altitude(ao_ground_pres);
+		ao_preflight = FALSE;
+	}
 }
 
 uint8_t
@@ -138,7 +139,7 @@ ao_sample(void)
 		 *
 		 *                      ao_sample_accel       32767
 		 *                    = ------------ *  ------------
-		 *                         32737        ao_accel_ref
+		 *                         32767        ao_accel_ref
 		 *
 		 * Multiply through by 32767:
 		 *
@@ -178,6 +179,8 @@ ao_sample(void)
 		 * just dropped a bit of noise off the low end.
 		 */
 		ao_sample_accel = (uint16_t) ((((uint32_t) ao_sample_accel << 16) / (ao_accel_ref[ao_sample_adc] << 1))) >> 1;
+		if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
+			ao_sample_accel = 0x7fff - ao_sample_accel;
 		ao_adc->accel = ao_sample_accel;
 #endif
 #endif