X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.c;h=e3b5e084d8f4c52ec454e30739910bfada8a9912;hb=acc642801aa5f8c0c05bde134e5924fe957ce023;hp=874c91100a665ca1f0ec3680e4392ede174e9acc;hpb=f10009b07b651f69014ac5608f3ca29bce874c24;p=fw%2Faltos

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 874c9110..e3b5e084 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -35,7 +35,7 @@
 #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;
@@ -210,18 +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;
@@ -252,12 +252,14 @@ 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();
@@ -266,14 +268,13 @@ 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
@@ -295,6 +296,7 @@ ao_sample_rotate(void)
 			(int) (y * 1000),
 			(int) (z * 1000),
 			ao_sample_orient);
+		fflush(stdout);
 	}
 #endif
 	ao_sample_compute_orient();