X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_sample.h;h=16d4c5076774d04ad6adefc70064f1dae43d6626;hb=bb9fdef607728cc326a82aa632e59724f272e53b;hp=189b20197d81dfc7c6bf86e20cafcf4a2fb91e25;hpb=78423f3fc5164ea9fd428606419784c1700ad5c5;p=fw%2Faltos

diff --git a/src/core/ao_sample.h b/src/core/ao_sample.h
index 189b2019..16d4c507 100644
--- a/src/core/ao_sample.h
+++ b/src/core/ao_sample.h
@@ -64,12 +64,14 @@
  * for all further flight computations
  */
 
-#define GRAVITY 9.80665
-
 /*
  * Above this height, the baro sensor doesn't work
  */
+#if HAS_MS5607
+#define AO_MAX_BARO_HEIGHT	30000
+#else
 #define AO_MAX_BARO_HEIGHT	12000
+#endif
 
 /*
  * Above this speed, baro measurements are unreliable
@@ -90,24 +92,38 @@
 #define AO_MSS_TO_ACCEL(mss)	((int16_t) ((mss) * 16))
 
 extern __pdata uint16_t	ao_sample_tick;		/* time of last data */
-extern __pdata pres_t	ao_sample_pres;		/* most recent pressure sensor reading */
-extern __pdata alt_t	ao_sample_alt;		/* MSL of ao_sample_pres */
-extern __pdata alt_t	ao_sample_height;	/* AGL of ao_sample_pres */
 extern __data uint8_t	ao_sample_adc;		/* Ring position of last processed sample */
 extern __data uint8_t	ao_sample_data;		/* Ring position of last processed sample */
 
-#if HAS_ACCEL
-extern __pdata accel_t	ao_sample_accel;	/* most recent accel sensor reading */
-#endif
-
+#if HAS_BARO
+extern __pdata pres_t	ao_sample_pres;		/* most recent pressure sensor reading */
+extern __pdata alt_t	ao_sample_alt;		/* MSL of ao_sample_pres */
+extern __pdata alt_t	ao_sample_height;	/* AGL of ao_sample_pres */
 extern __pdata pres_t	ao_ground_pres;		/* startup pressure */
 extern __pdata alt_t	ao_ground_height;	/* MSL of ao_ground_pres */
+#endif
 
 #if HAS_ACCEL
+extern __pdata accel_t	ao_sample_accel;	/* most recent accel sensor reading */
 extern __pdata accel_t	ao_ground_accel;	/* startup acceleration */
 extern __pdata accel_t 	ao_accel_2g;		/* factory accel calibration */
 extern __pdata int32_t	ao_accel_scale;		/* sensor to m/s² conversion */
 #endif
+#if HAS_GYRO
+extern __pdata accel_t	ao_ground_accel_along;
+extern __pdata accel_t	ao_ground_accel_across;
+extern __pdata accel_t	ao_ground_accel_through;
+extern __pdata int32_t	ao_ground_pitch;	/* * 512 */
+extern __pdata int32_t	ao_ground_yaw;		/* * 512 */
+extern __pdata int32_t	ao_ground_roll;		/* * 512 */
+extern __pdata accel_t	ao_sample_accel_along;
+extern __pdata accel_t	ao_sample_accel_across;
+extern __pdata accel_t	ao_sample_accel_through;
+extern __pdata gyro_t	ao_sample_roll;
+extern __pdata gyro_t	ao_sample_pitch;
+extern __pdata gyro_t	ao_sample_yaw;
+extern __pdata angle_t	ao_sample_orient;
+#endif
 
 void ao_sample_init(void);
 
@@ -125,8 +141,8 @@ uint8_t ao_sample(void);
 extern __pdata int16_t			ao_height;	/* meters */
 extern __pdata int16_t			ao_speed;	/* m/s * 16 */
 extern __pdata int16_t			ao_accel;	/* m/s² * 16 */
-extern __pdata int16_t			ao_max_height;	/* max of ao_height */
-extern __pdata int16_t			ao_avg_height;	/* running average of height */
+extern __xdata int16_t			ao_max_height;	/* max of ao_height */
+extern __xdata int16_t			ao_avg_height;	/* running average of height */
 
 extern __pdata int16_t			ao_error_h;
 extern __pdata int16_t			ao_error_h_sq_avg;