X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.c;h=874c91100a665ca1f0ec3680e4392ede174e9acc;hb=db449c108431cb45bcc572b3a9f6c8b945695e16;hp=a7f5006590264a0a6d1e6dd348c87fb18e2136d7;hpb=d55d7c56b81dba7043857a763d0749e93cf7823a;p=fw%2Faltos

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index a7f50065..874c9110 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;
 }
@@ -199,6 +212,9 @@ ao_sample_preflight_set(void)
 	ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
 
 #endif
+#if HAS_MOTOR_PRESSURE
+	ao_ground_motor_pressure = ao_sample_motor_pressure_sum >> 9;
+#endif
 #if HAS_GYRO
 	ao_ground_pitch = ao_sample_pitch_sum;
 	ao_ground_yaw = ao_sample_yaw_sum;
@@ -323,7 +339,7 @@ ao_sample_preflight_update(void)
 	else
 		ao_sample_preflight_set();
 #if !HAS_BARO
-	if ((nsamples & 0x7f) == 0)
+	if ((nsamples & 0x3f) == 0)
 		ao_kalman_reset_accumulate();
 #endif
 }
@@ -379,6 +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();