X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.c;h=2c77c36920ed5755046e158c9e32f4e92e2d9aae;hb=07eecc0ff6e1104f911e5f83d67f3e14dc68c59c;hp=91cf113e3a6ae58880be274bec43653154e485fe;hpb=18e24df0353c78ada8cc1d2439729bc2f2676205;p=fw%2Faltos

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 91cf113e..2c77c369 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -57,6 +57,9 @@ angle_t		ao_sample_orient;
 angle_t		ao_sample_orients[AO_NUM_ORIENT];
 uint8_t		ao_sample_orient_pos;
 #endif
+#ifdef HAS_MOTOR_PRESSURE
+motor_pressure_t	ao_sample_motor_pressure;
+#endif
 
 uint8_t		ao_sample_data;
 
@@ -87,6 +90,10 @@ int32_t		ao_ground_yaw;
 int32_t		ao_ground_roll;
 #endif
 
+#if HAS_MOTOR_PRESSURE
+motor_pressure_t	ao_ground_motor_pressure;
+#endif
+
 static uint8_t	ao_preflight;		/* in preflight mode */
 
 static uint16_t	nsamples;
@@ -107,6 +114,9 @@ int32_t ao_sample_yaw_sum;
 int32_t	ao_sample_roll_sum;
 static struct ao_quaternion ao_rotation;
 #endif
+#if HAS_MOTOR_PRESSURE
+int32_t ao_sample_motor_pressure_sum;
+#endif
 
 #if HAS_FLIGHT_DEBUG
 extern uint8_t ao_orient_test;
@@ -130,6 +140,9 @@ ao_sample_preflight_add(void)
 	ao_sample_pitch_sum += ao_sample_pitch;
 	ao_sample_yaw_sum += ao_sample_yaw;
 	ao_sample_roll_sum += ao_sample_roll;
+#endif
+#if HAS_MOTOR_PRESSURE
+	ao_sample_motor_pressure_sum += ao_sample_motor_pressure;
 #endif
 	++nsamples;
 }
@@ -197,15 +210,18 @@ 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_sample_accel_along_sum = 0;
+	ao_sample_accel_across_sum = 0;
+	ao_sample_accel_through_sum = 0;
+#endif
+#if HAS_MOTOR_PRESSURE
+	ao_ground_motor_pressure = ao_sample_motor_pressure_sum >> 9;
+	ao_sample_motor_pressure_sum = 0;
 #endif
 #if HAS_GYRO
 	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;
@@ -241,7 +257,7 @@ ao_sample_preflight_set(void)
 		       (ao_ground_accel_across - ao_config.accel_zero_across),
 		       (ao_ground_accel_through - ao_config.accel_zero_through),
 		       (ao_ground_accel_along - ao_config.accel_zero_along));
-#endif	
+#endif
 
 	ao_sample_compute_orient();
 	ao_sample_set_all_orients();
@@ -322,6 +338,10 @@ ao_sample_preflight_update(void)
 		++nsamples;
 	else
 		ao_sample_preflight_set();
+#if !HAS_BARO
+	if ((nsamples & 0x3f) == 0)
+		ao_kalman_reset_accumulate();
+#endif
 }
 
 #if 0
@@ -375,6 +395,9 @@ ao_sample(void)
 		ao_sample_yaw = ao_data_yaw(ao_data);
 		ao_sample_roll = ao_data_roll(ao_data);
 #endif
+#if HAS_MOTOR_PRESSURE
+		ao_sample_motor_pressure = ao_data_motor_pressure(ao_data);
+#endif
 
 		if (ao_preflight)
 			ao_sample_preflight();