X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_sample.c;h=34658951724e7166dbc3008a9079a2f7a1df8e59;hb=9f6983e3d61fa5231f3d0ce33dbc5aadf946b597;hp=fc8f8680df2acb0826520f01c3f12789ed0b8dca;hpb=06b0c1b768a7d3eae57e66bc9aea25db49f9ea8a;p=fw%2Faltos

diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c
index fc8f8680..34658951 100644
--- a/src/core/ao_sample.c
+++ b/src/core/ao_sample.c
@@ -92,6 +92,10 @@ __pdata int32_t	ao_sample_roll_sum;
 static struct ao_quaternion ao_rotation;
 #endif
 
+#if HAS_FLIGHT_DEBUG
+extern uint8_t ao_orient_test;
+#endif
+
 static void
 ao_sample_preflight_add(void)
 {
@@ -159,52 +163,33 @@ ao_sample_preflight_set(void)
 	 * that as the current rotation vector
 	 */
 	ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
+#if HAS_FLIGHT_DEBUG
+	if (ao_orient_test)
+		printf("\n\treset\n");
 #endif	
+#endif
 	nsamples = 0;
 }
 
 #if HAS_GYRO
+
+#define TIME_DIV	200.0f
+
 static void
 ao_sample_rotate(void)
 {
 #ifdef AO_FLIGHT_TEST
-	float	dt = (ao_sample_tick - ao_sample_prev_tick) / 100.0;
+	float	dt = (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
 #else
-	static const float dt = 1/100.0;
+	static const float dt = 1/TIME_DIV;
 #endif
 	float	x = ao_mpu6000_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
 	float	y = ao_mpu6000_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
 	float	z = ao_mpu6000_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
 	struct ao_quaternion	rot;
-	struct ao_quaternion	point;
-
-	/* The amount of rotation is just the length of the vector. Now,
-	 * here's the trick -- assume that the rotation amount is small. In this case,
-	 * sin(x) ≃ x, so we can just make this the sin.
-	 */
 
-	n_2 = x*x + y*y + z*z;
-	n = sqrtf(n_2);
-	s = n / 2;
-	if (s > 1)
-		s = 1;
-	c = sqrtf(1 - s*s);
-
-	/* Make unit vector */
-	if (n > 0) {
-		x /= n;
-		y /= n;
-		z /= n;
-	}
-
-	/* Now compute the unified rotation quaternion */
-
-	ao_quaternion_init_rotation(&rot,
-				    x, y, z,
-				    s, c);
-
-	/* Integrate with the previous rotation amount */
-	ao_quaternion_multiply(&ao_rotation, &ao_rotation, &rot);
+	ao_quaternion_init_half_euler(&rot, x, y, z);
+	ao_quaternion_multiply(&ao_rotation, &rot, &ao_rotation);
 
 	/* And normalize to make sure it remains a unit vector */
 	ao_quaternion_normalize(&ao_rotation, &ao_rotation);
@@ -233,6 +218,17 @@ ao_sample_rotate(void)
 	rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
 
 	ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
+
+#if HAS_FLIGHT_DEBUG
+	if (ao_orient_test) {
+		printf ("rot %d %d %d orient %d     \r",
+			(int) (x * 1000),
+			(int) (y * 1000),
+			(int) (z * 1000),
+			ao_sample_orient);
+	}
+#endif
+
 }
 #endif