X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.c;h=67f20aff9093b5941a3ccee9ffc5e6e752f96479;hb=6b5e5899d174466552a34a4d8574f0439776240d;hp=9cba36c1004b37ec31717e7c4431e08ede4bf615;hpb=684741765117611b7d666efbdfafd87c6199752c;p=fw%2Faltos

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 9cba36c1..67f20aff 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -36,9 +36,11 @@
 #endif
 
 uint16_t	ao_sample_tick;		/* time of last data */
+#if HAS_BARO
 pres_t		ao_sample_pres;
 alt_t		ao_sample_alt;
 alt_t		ao_sample_height;
+#endif
 #if HAS_ACCEL
 accel_t		ao_sample_accel;
 #endif
@@ -60,8 +62,10 @@ uint8_t		ao_sample_data;
  * Sensor calibration values
  */
 
+#if HAS_BARO
 pres_t		ao_ground_pres;		/* startup pressure */
 alt_t		ao_ground_height;	/* MSL of ao_ground_pres */
+#endif
 
 #if HAS_ACCEL
 accel_t		ao_ground_accel;	/* startup acceleration */
@@ -81,7 +85,9 @@ int32_t		ao_ground_roll;
 static uint8_t	ao_preflight;		/* in preflight mode */
 
 static uint16_t	nsamples;
+#if HAS_BARO
 int32_t ao_sample_pres_sum;
+#endif
 #if HAS_ACCEL
 int32_t ao_sample_accel_sum;
 #endif
@@ -105,7 +111,9 @@ ao_sample_preflight_add(void)
 #if HAS_ACCEL
 	ao_sample_accel_sum += ao_sample_accel;
 #endif
+#if HAS_BARO
 	ao_sample_pres_sum += ao_sample_pres;
+#endif
 #if HAS_GYRO
 	ao_sample_accel_along_sum += ao_sample_accel_along;
 	ao_sample_accel_across_sum += ao_sample_accel_across;
@@ -171,9 +179,11 @@ ao_sample_preflight_set(void)
 	ao_ground_accel = ao_sample_accel_sum >> 9;
 	ao_sample_accel_sum = 0;
 #endif
+#if HAS_BARO
 	ao_ground_pres = ao_sample_pres_sum >> 9;
 	ao_ground_height = pres_to_altitude(ao_ground_pres);
 	ao_sample_pres_sum = 0;
+#endif
 #if HAS_GYRO
 	ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
 	ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
@@ -215,7 +225,10 @@ ao_sample_preflight_set(void)
 	ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
 #if HAS_FLIGHT_DEBUG
 	if (ao_orient_test)
-		printf("\n\treset\n");
+		printf("\n\treset across %d through %d along %d\n",
+		       (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	
 
 	ao_sample_compute_orient();
@@ -338,10 +351,7 @@ ao_sample(void)
 #endif
 
 #if HAS_ACCEL
-		ao_sample_accel = ao_data_accel_cook(ao_data);
-		if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
-			ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
-		ao_data_set_accel(ao_data, ao_sample_accel);
+		ao_sample_accel = ao_data_accel(ao_data);
 #endif
 #if HAS_GYRO
 		ao_sample_accel_along = ao_data_along(ao_data);
@@ -375,8 +385,10 @@ ao_sample_init(void)
 {
 	ao_config_get();
 	nsamples = 0;
+#if HAS_BARO
 	ao_sample_pres_sum = 0;
 	ao_sample_pres = 0;
+#endif
 #if HAS_ACCEL
 	ao_sample_accel_sum = 0;
 	ao_sample_accel = 0;