X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.c;h=a7f5006590264a0a6d1e6dd348c87fb18e2136d7;hb=d55d7c56b81dba7043857a763d0749e93cf7823a;hp=9cba36c1004b37ec31717e7c4431e08ede4bf615;hpb=0686a7b8aec524d81bda4c572549a3a068ce0eed;p=fw%2Faltos

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 9cba36c1..a7f50065 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -36,16 +36,20 @@
 #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
-#if HAS_GYRO
+#if HAS_IMU
 accel_t		ao_sample_accel_along;
 accel_t		ao_sample_accel_across;
 accel_t		ao_sample_accel_through;
+#endif
+#if HAS_GYRO
 gyro_t		ao_sample_roll;
 gyro_t		ao_sample_pitch;
 gyro_t		ao_sample_yaw;
@@ -60,8 +64,10 @@ 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 */
@@ -69,10 +75,13 @@ accel_t		ao_accel_2g;		/* factory accel calibration */
 int32_t		ao_accel_scale;		/* sensor to m/s² conversion */
 #endif
 
-#if HAS_GYRO
+#if HAS_IMU
 accel_t		ao_ground_accel_along;
 accel_t		ao_ground_accel_across;
 accel_t		ao_ground_accel_through;
+#endif
+
+#if HAS_GYRO
 int32_t		ao_ground_pitch;
 int32_t		ao_ground_yaw;
 int32_t		ao_ground_roll;
@@ -81,14 +90,18 @@ 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
-#if HAS_GYRO
+#if HAS_IMU
 int32_t ao_sample_accel_along_sum;
 int32_t ao_sample_accel_across_sum;
 int32_t	ao_sample_accel_through_sum;
+#endif
+#if HAS_GYRO
 int32_t ao_sample_pitch_sum;
 int32_t ao_sample_yaw_sum;
 int32_t	ao_sample_roll_sum;
@@ -105,11 +118,15 @@ 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;
-#if HAS_GYRO
+#endif
+#if HAS_IMU
 	ao_sample_accel_along_sum += ao_sample_accel_along;
 	ao_sample_accel_across_sum += ao_sample_accel_across;
 	ao_sample_accel_through_sum += ao_sample_accel_through;
+#endif
+#if HAS_GYRO
 	ao_sample_pitch_sum += ao_sample_pitch;
 	ao_sample_yaw_sum += ao_sample_yaw;
 	ao_sample_roll_sum += ao_sample_roll;
@@ -171,13 +188,18 @@ 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;
-#if HAS_GYRO
+#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;
+
+#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;
@@ -215,7 +237,10 @@ 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();
@@ -297,6 +322,10 @@ ao_sample_preflight_update(void)
 		++nsamples;
 	else
 		ao_sample_preflight_set();
+#if !HAS_BARO
+	if ((nsamples & 0x7f) == 0)
+		ao_kalman_reset_accumulate();
+#endif
 }
 
 #if 0
@@ -338,15 +367,14 @@ 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
+#if HAS_IMU
 		ao_sample_accel_along = ao_data_along(ao_data);
 		ao_sample_accel_across = ao_data_across(ao_data);
 		ao_sample_accel_through = ao_data_through(ao_data);
+#endif
+#if HAS_GYRO
 		ao_sample_pitch = ao_data_pitch(ao_data);
 		ao_sample_yaw = ao_data_yaw(ao_data);
 		ao_sample_roll = ao_data_roll(ao_data);
@@ -375,19 +403,23 @@ 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;
 #endif
-#if HAS_GYRO
+#if HAS_IMU
 	ao_sample_accel_along_sum = 0;
 	ao_sample_accel_across_sum = 0;
 	ao_sample_accel_through_sum = 0;
 	ao_sample_accel_along = 0;
 	ao_sample_accel_across = 0;
 	ao_sample_accel_through = 0;
+#endif
+#if HAS_GYRO
 	ao_sample_pitch_sum = 0;
 	ao_sample_yaw_sum = 0;
 	ao_sample_roll_sum = 0;