projects
/
fw
/
altos
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
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_
#ifndef _AO_DATA_H_
#define _AO_DATA_H_
+#define GRAVITY 9.80665
+
#if HAS_ADC
#define AO_DATA_ADC (1 << 0)
#else
#if HAS_ADC
#define AO_DATA_ADC (1 << 0)
#else
@@
-300,8
+302,8
@@
typedef int16_t accel_t;
#define HAS_GYRO 1
#define HAS_GYRO 1
-typedef int16_t gyro_t;
-typedef int
32_t angle_t;
+typedef int16_t gyro_t;
/* in raw sample units */
+typedef int
16_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) */
/* Y axis is aligned with the direction of motion (along) */
/* X axis is aligned in the other board axis (across) */