X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_sample.c;h=b425aee7b43578469180210b0db418a73c837a48;hb=d96fd33aa8a220d547512eb43c88fc8f5651e39e;hp=a9d50cb2535c528947d4cc3fb0f8b8aa06df5828;hpb=351d53836e201834a2d89773a08ab7c2dab2b2f4;p=fw%2Faltos

diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c
index a9d50cb2..b425aee7 100644
--- a/src/core/ao_sample.c
+++ b/src/core/ao_sample.c
@@ -48,7 +48,7 @@ __pdata accel_t		ao_sample_accel_through;
 __pdata gyro_t		ao_sample_roll;
 __pdata gyro_t		ao_sample_pitch;
 __pdata gyro_t		ao_sample_yaw;
-__pdata angle_t		ao_orient;
+__pdata angle_t		ao_sample_orient;
 #endif
 
 __data uint8_t		ao_sample_data;
@@ -70,9 +70,9 @@ __pdata int32_t		ao_accel_scale;		/* sensor to m/s² conversion */
 __pdata accel_t		ao_ground_accel_along;
 __pdata accel_t		ao_ground_accel_across;
 __pdata accel_t		ao_ground_accel_through;
-__pdata gyro_t		ao_ground_pitch;
-__pdata gyro_t		ao_ground_yaw;
-__pdata gyro_t		ao_ground_roll;
+__pdata int32_t		ao_ground_pitch;
+__pdata int32_t		ao_ground_yaw;
+__pdata int32_t		ao_ground_roll;
 #endif
 
 static __pdata uint8_t	ao_preflight;		/* in preflight mode */
@@ -125,16 +125,16 @@ ao_sample_preflight_set(void)
 	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_ground_pitch = ao_sample_pitch_sum >> 9;
-	ao_ground_yaw = ao_sample_yaw_sum >> 9;
-	ao_ground_roll = ao_sample_roll_sum >> 9;
+	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_orient = 0;
+	ao_sample_orient = 0;
 
 	/* No rotation yet */
 	ao_quaternion_init_zero_rotation(&ao_rotation);
@@ -162,13 +162,9 @@ ao_sample_rotate(void)
 #else
 	static const float dt = 1/100.0;
 #endif
-	float	x = ao_mpu6000_gyro(ao_sample_pitch - ao_ground_pitch) * dt;
-	float	y = ao_mpu6000_gyro(ao_sample_yaw - ao_ground_yaw) * dt;
-	float	z = ao_mpu6000_gyro(ao_sample_roll - ao_ground_roll) * dt;
-
-	float			n_2, n;
-	float			s, c;
-	
+	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;
 
@@ -212,7 +208,7 @@ ao_sample_rotate(void)
 
 	ao_quaternion_rotate(&point, &ao_pad_orientation, &ao_rotation);
 
-	ao_orient = acosf(point.z) * (float) (180.0/M_PI);
+	ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
 }
 #endif
 
@@ -349,7 +345,7 @@ ao_sample_init(void)
 	ao_sample_pitch = 0;
 	ao_sample_yaw = 0;
 	ao_sample_roll = 0;
-	ao_orient = 0;
+	ao_sample_orient = 0;
 #endif
 	ao_sample_data = ao_data_head;
 	ao_preflight = TRUE;