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 c873e9d34d7ebe6ad1b9aaf7912051d3a4099c22..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
@@ -101,7 +103,7 @@ extern volatile __data uint8_t              ao_data_count;
  * signaled by the timer tick
  */
 #define AO_DATA_WAIT() do {                            \
-               ao_sleep((void *) &ao_data_count);      \
+               ao_sleep(DATA_TO_XDATA ((void *) &ao_data_count));      \
        } while (0)
 
 #endif /* AO_DATA_RING */
@@ -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) */