altos: Add gyro-based orientation tracking

[fw/altos] / src / core / ao_data.h

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 339afe69882602e3730ff66543236b9f17e644b7..5a232885173b368c0a7ee9a6cab7a97a12adc5a7 100644 (file)
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -18,6 +18,8 @@
 #ifndef _AO_DATA_H_
 #define _AO_DATA_H_
 
+#define GRAVITY 9.80665
+
 #if HAS_ADC
 #define AO_DATA_ADC    (1 << 0)
 #else
@@ -300,8 +302,8 @@ typedef int16_t accel_t;
 
 #define HAS_GYRO       1
 
-typedef int16_t        gyro_t;
-typedef int32_t angle_t;
+typedef int16_t        gyro_t;         /* in raw sample units */
+typedef int16_t angle_t;       /* in degrees */
 
 /* Y axis is aligned with the direction of motion (along) */
 /* X axis is aligned in the other board axis (across) */