__pdata accel_t ao_ground_accel_along;
__pdata accel_t ao_ground_accel_across;
__pdata accel_t ao_ground_accel_through;
-__pdata gyro_t ao_ground_pitch;
-__pdata gyro_t ao_ground_yaw;
-__pdata gyro_t ao_ground_roll;
+__pdata int32_t ao_ground_pitch;
+__pdata int32_t ao_ground_yaw;
+__pdata int32_t ao_ground_roll;
#endif
static __pdata uint8_t ao_preflight; /* in preflight mode */
ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
- ao_ground_pitch = ao_sample_pitch_sum >> 9;
- ao_ground_yaw = ao_sample_yaw_sum >> 9;
- ao_ground_roll = ao_sample_roll_sum >> 9;
+ ao_ground_pitch = ao_sample_pitch_sum;
+ ao_ground_yaw = ao_sample_yaw_sum;
+ ao_ground_roll = ao_sample_roll_sum;
ao_sample_accel_along_sum = 0;
ao_sample_accel_across_sum = 0;
ao_sample_accel_through_sum = 0;
#else
static const float dt = 1/100.0;
#endif
- float x = ao_mpu6000_gyro(ao_sample_pitch - ao_ground_pitch) * dt;
- float y = ao_mpu6000_gyro(ao_sample_yaw - ao_ground_yaw) * dt;
- float z = ao_mpu6000_gyro(ao_sample_roll - ao_ground_roll) * dt;
-
- float n_2, n;
- float s, c;
-
+ float x = ao_mpu6000_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
+ float y = ao_mpu6000_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
+ float z = ao_mpu6000_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
struct ao_quaternion rot;
struct ao_quaternion point;