X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.c;h=9cba36c1004b37ec31717e7c4431e08ede4bf615;hb=HEAD;hp=91cf113e3a6ae58880be274bec43653154e485fe;hpb=18e24df0353c78ada8cc1d2439729bc2f2676205;p=fw%2Faltos

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 91cf113e..422ccec6 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -21,6 +21,10 @@
 #include <ao_data.h>
 #endif
 
+#ifndef HAS_KALMAN
+#define HAS_KALMAN 1
+#endif
+
 #if HAS_GYRO
 #include <ao_quaternion.h>
 #endif
@@ -35,7 +39,7 @@
 #define ACCEL_TYPE int16_t
 #endif
 
-uint16_t	ao_sample_tick;		/* time of last data */
+AO_TICK_TYPE	ao_sample_tick;		/* time of last data */
 #if HAS_BARO
 pres_t		ao_sample_pres;
 alt_t		ao_sample_alt;
@@ -57,6 +61,9 @@ angle_t		ao_sample_orient;
 angle_t		ao_sample_orients[AO_NUM_ORIENT];
 uint8_t		ao_sample_orient_pos;
 #endif
+#if HAS_MOTOR_PRESSURE
+motor_pressure_t	ao_sample_motor_pressure;
+#endif
 
 uint8_t		ao_sample_data;
 
@@ -87,6 +94,10 @@ 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 +118,9 @@ 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 +144,9 @@ 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;
 }
@@ -148,7 +165,7 @@ static void
 ao_sample_set_one_orient(void)
 {
 	ao_sample_orients[ao_sample_orient_pos] = ao_sample_orient;
-	ao_sample_orient_pos = (ao_sample_orient_pos + 1) % AO_NUM_ORIENT;
+	ao_sample_orient_pos = (uint8_t) ((ao_sample_orient_pos + 1) % AO_NUM_ORIENT);
 }
 
 static void
@@ -177,7 +194,7 @@ ao_sample_compute_orient(void)
 	float rotz;
 	rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
 
-	ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
+	ao_sample_orient = (angle_t) (acosf(rotz) * (float) (180.0/M_PI));
 }
 #endif /* HAS_GYRO */
 
@@ -185,7 +202,7 @@ static void
 ao_sample_preflight_set(void)
 {
 #if HAS_ACCEL
-	ao_ground_accel = ao_sample_accel_sum >> 9;
+	ao_ground_accel = (accel_t) (ao_sample_accel_sum >> 9);
 	ao_sample_accel_sum = 0;
 #endif
 #if HAS_BARO
@@ -194,18 +211,21 @@ ao_sample_preflight_set(void)
 	ao_sample_pres_sum = 0;
 #endif
 #if HAS_IMU
-	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_ground_accel_along = (accel_t) (ao_sample_accel_along_sum >> 9);
+	ao_ground_accel_across = (accel_t) (ao_sample_accel_across_sum >> 9);
+	ao_ground_accel_through = (accel_t) (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 = (motor_pressure_t) (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;
@@ -236,12 +256,14 @@ ao_sample_preflight_set(void)
 	 */
 	ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
 #if HAS_FLIGHT_DEBUG
-	if (ao_orient_test)
+	if (ao_orient_test) {
 		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	
+		fflush(stdout);
+	}
+#endif
 
 	ao_sample_compute_orient();
 	ao_sample_set_all_orients();
@@ -250,14 +272,13 @@ ao_sample_preflight_set(void)
 }
 
 #if HAS_GYRO
-
 #define TIME_DIV	200.0f
 
 static void
 ao_sample_rotate(void)
 {
 #ifdef AO_FLIGHT_TEST
-	float	dt = (int16_t) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
+	float	dt = (AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
 #else
 	static const float dt = 1/TIME_DIV;
 #endif
@@ -279,6 +300,7 @@ ao_sample_rotate(void)
 			(int) (y * 1000),
 			(int) (z * 1000),
 			ao_sample_orient);
+		fflush(stdout);
 	}
 #endif
 	ao_sample_compute_orient();
@@ -322,6 +344,10 @@ ao_sample_preflight_update(void)
 		++nsamples;
 	else
 		ao_sample_preflight_set();
+#if !HAS_BARO && HAS_KALMAN
+	if ((nsamples & 0x3f) == 0)
+		ao_kalman_reset_accumulate();
+#endif
 }
 
 #if 0
@@ -375,13 +401,18 @@ 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();
 		else {
 			if (ao_flight_state < ao_flight_boost)
 				ao_sample_preflight_update();
+#if HAS_KALMAN
 			ao_kalman();
+#endif
 #if HAS_GYRO
 			ao_sample_rotate();
 #endif