altos: Split up flight code into separate flight/sample/kalman bits

[fw/altos] / src / ao_flight_test.c

diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c
index 91aa0f738064703eee090fd6f6b5398a6815ffff..f41acbca282dc50fafa0bf8f515f81b8fce4b033 100644 (file)
--- a/src/ao_flight_test.c
+++ b/src/ao_flight_test.c
@@ -53,6 +53,22 @@ struct ao_adc {
 #define __code
 #define __reentrant
 
+#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define from_fix(x)    ((x) >> 16)
+
+/*
+ * Above this height, the baro sensor doesn't work
+ */
+#define AO_MAX_BARO_HEIGHT     12000
+
+/*
+ * Above this speed, baro measurements are unreliable
+ */
+#define AO_MAX_BARO_SPEED      200
+
+#define ACCEL_NOSE_UP  (ao_accel_2g >> 2)
+
 enum ao_flight_state {
        ao_flight_startup = 0,
        ao_flight_idle = 1,
@@ -66,6 +82,11 @@ enum ao_flight_state {
        ao_flight_invalid = 9
 };
 
+extern enum ao_flight_state ao_flight_state;
+
+#define FALSE 0
+#define TRUE 1
+
 struct ao_adc ao_adc_ring[AO_ADC_RING];
 uint8_t ao_adc_head;
 int    ao_summary = 0;
@@ -171,15 +192,25 @@ struct ao_config ao_config;
 #define HAS_ACCEL_REF 0
 #endif
 
-#include "ao_flight.c"
-
-#define to_double(f)   ((f) / 65536.0)
-
 #define GRAVITY 9.80665
-extern int16_t ao_ground_accel, ao_raw_accel;
+extern int16_t ao_ground_accel, ao_flight_accel;
 extern int16_t ao_accel_2g;
 
+extern uint16_t        ao_sample_tick;
+
+extern int16_t ao_sample_height;
+extern int16_t ao_sample_accel;
+extern int32_t ao_accel_scale;
+
+int ao_sample_prev_tick;
 uint16_t       prev_tick;
+
+#include "ao_kalman.c"
+#include "ao_sample.c"
+#include "ao_flight.c"
+
+#define to_double(f)   ((f) / 65536.0)
+
 static int     ao_records_read = 0;
 static int     ao_eof_read = 0;
 static int     ao_flight_ground_accel;
@@ -224,7 +255,7 @@ ao_insert(void)
        ao_adc_ring[ao_adc_head] = ao_adc_static;
        ao_adc_head = ao_adc_ring_next(ao_adc_head);
        if (ao_flight_state != ao_flight_startup) {
-               double  height = ao_pres_to_altitude(ao_raw_pres) - ao_ground_height;
+               double  height = ao_pres_to_altitude(ao_sample_pres) - ao_ground_height;
                double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
                        (ao_config.accel_minus_g - ao_config.accel_plus_g);