X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_sample.h;h=16d4c5076774d04ad6adefc70064f1dae43d6626;hb=bb9fdef607728cc326a82aa632e59724f272e53b;hp=9336bdf9c8bfda847a2e0cfbe9166ed96baccedf;hpb=27ab744c6eec9243b7aa14161eec2fbf7003531e;p=fw%2Faltos

diff --git a/src/core/ao_sample.h b/src/core/ao_sample.h
index 9336bdf9..16d4c507 100644
--- a/src/core/ao_sample.h
+++ b/src/core/ao_sample.h
@@ -64,8 +64,6 @@
  * for all further flight computations
  */
 
-#define GRAVITY 9.80665
-
 /*
  * Above this height, the baro sensor doesn't work
  */
@@ -111,6 +109,21 @@ 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);
 
@@ -128,8 +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;