X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Ftest%2Fao_flight_test.c;h=99bed7eeb94df17dbd94f3560d5b7fe93a2c2ca8;hb=56a7cbbf51f5c9ebbfe17d1cc30ed807572af3cc;hp=acdf4d926a3ead68460fd6b284d2e656a30ebf8f;hpb=5f6b3790667d9b92370b4fe0dad5626929fea2ba;p=fw%2Faltos

diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index acdf4d92..99bed7ee 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -35,7 +35,7 @@
 #define AO_MS_TO_SPEED(ms)	((int16_t) ((ms) * 16))
 #define AO_MSS_TO_ACCEL(mss)	((int16_t) ((mss) * 16))
 
-#if MEGAMETRUM
+#if TELEMEGA
 #define AO_ADC_NUM_SENSE	6
 #define HAS_MS5607		1
 #define HAS_MPU6000		1
@@ -195,7 +195,7 @@ struct ao_cmds {
 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 
 #define AO_NEED_ALTITUDE_TO_PRES 1
-#if MEGAMETRUM
+#if TELEMEGA
 #include "ao_convert_pa.c"
 #include <ao_ms5607.h>
 struct ao_ms5607_prom	ms5607_prom;
@@ -236,10 +236,14 @@ extern int32_t	ao_accel_scale;
 extern alt_t	ao_ground_height;
 extern alt_t	ao_sample_alt;
 
+double ao_sample_qangle;
+
 int ao_sample_prev_tick;
 uint16_t	prev_tick;
 
+
 #include "ao_kalman.c"
+#include "ao_sqrt.c"
 #include "ao_sample.c"
 #include "ao_flight.c"
 
@@ -309,7 +313,7 @@ ao_mpu6000_accel(int16_t sensor)
 }
 
 static double
-ao_mpu6000_gyro(int16_t sensor)
+ao_mpu6000_gyro(int32_t sensor)
 {
 	return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE;
 }
@@ -329,7 +333,7 @@ ao_insert(void)
 #else
 		double	accel = 0.0;
 #endif
-#if MEGAMETRUM
+#if TELEMEGA
 		double	height;
 
 		ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
@@ -369,14 +373,18 @@ ao_insert(void)
 
 		if (!ao_summary) {
 			printf("%7.2f height %8.2f accel %8.3f "
-#if MEGAMETRUM
+#if TELEMEGA
+			       "roll %8.3f angle %8.3f qangle %8.3f "
 			       "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f "
 #endif
 			       "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
 			       time,
 			       height,
 			       accel,
-#if MEGAMETRUM
+#if TELEMEGA
+			       ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0,
+			       ao_mpu6000_gyro(ao_sample_angle) / 100.0,
+			       ao_sample_qangle,
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
@@ -547,7 +555,7 @@ int32(uint8_t *bytes, int off)
 
 static int log_format;
 
-#if MEGAMETRUM
+#if TELEMEGA
 
 static double
 ao_vec_norm(double x, double y, double z)
@@ -715,12 +723,14 @@ update_orientation (double rate_x, double rate_y, double rate_z, int tick)
 	q_dot.q2 =  0.5 * (ao_orient.q0 * rate_y + ao_orient.q3 * rate_x - ao_orient.q1 * rate_z) + lambda * ao_orient.q2;
 	q_dot.q3 =  0.5 * (ao_orient.q0 * rate_z + ao_orient.q1 * rate_y - ao_orient.q2 * rate_x) + lambda * ao_orient.q3;
 
+#if 0
 	printf ("update_orientation %g %g %g (%g s)\n", rate_x, rate_y, rate_z, dt);
 	printf ("q_dot (%g) %g %g %g\n",
 		q_dot.q0,
 		q_dot.q1,
 		q_dot.q2,
 		q_dot.q3);
+#endif
 
 	ao_orient.q0 += q_dot.q0 * dt;
 	ao_orient.q1 += q_dot.q1 * dt;
@@ -731,6 +741,8 @@ update_orientation (double rate_x, double rate_y, double rate_z, int tick)
 
 	ao_quat_rot(&ao_current, &ao_up, &ao_orient);
 
+	ao_sample_qangle = 180 / M_PI * acos(ao_current.q3 * sqrt(2));
+#if 0
 	printf ("orient (%g) %g %g %g current (%g) %g %g %g\n",
 		ao_orient.q0,
 		ao_orient.q1,
@@ -740,6 +752,7 @@ update_orientation (double rate_x, double rate_y, double rate_z, int tick)
 		ao_current.q1,
 		ao_current.q2,
 		ao_current.q3);
+#endif
 }
 #endif
 
@@ -761,7 +774,7 @@ ao_sleep(void *wchan)
 		for (;;) {
 			if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 			{
-#if MEGAMETRUM
+#if TELEMEGA
 				ao_data_static.mpu6000 = ao_ground_mpu6000;
 #else
 				ao_data_static.adc.accel = ao_flight_ground_accel;
@@ -787,8 +800,8 @@ ao_sleep(void *wchan)
 				if (words[nword] == NULL)
 					break;
 			}
-#if MEGAMETRUM
-			if (log_format == AO_LOG_FORMAT_MEGAMETRUM && nword == 30 && strlen(words[0]) == 1) {
+#if TELEMEGA
+			if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
 				int	i;
 				struct ao_ms5607_value	value;
 
@@ -845,7 +858,7 @@ ao_sleep(void *wchan)
 						double		rate_y = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y);
 						double		rate_z = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z);
 
-						update_orientation(rate_x, rate_z, rate_y, tick);
+						update_orientation(rate_x * M_PI / 180, rate_z * M_PI / 180, rate_y * M_PI / 180, tick);
 					}
 					ao_records_read++;
 					ao_insert();
@@ -872,7 +885,7 @@ ao_sleep(void *wchan)
 				continue;
 			}
 #else
-			if (nword == 4 && log_format != AO_LOG_FORMAT_MEGAMETRUM) {
+			if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
 				type = words[0][0];
 				tick = strtoul(words[1], NULL, 16);
 				a = strtoul(words[2], NULL, 16);
@@ -989,7 +1002,7 @@ ao_sleep(void *wchan)
 			if (type != 'F' && !ao_flight_started)
 				continue;
 
-#if MEGAMETRUM
+#if TELEMEGA
 			(void) a;
 			(void) b;
 #else