altos: Keep 9 more bits of average pad IMU gyro data

[fw/altos] / src / core / ao_sample.c

diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c
index 676e0ffdc74775a4e5201a4c38202be4bb331edd..b425aee7b43578469180210b0db418a73c837a48 100644 (file)
--- a/src/core/ao_sample.c
+++ b/src/core/ao_sample.c
@@ -48,7 +48,7 @@ __pdata accel_t               ao_sample_accel_through;
 __pdata gyro_t         ao_sample_roll;
 __pdata gyro_t         ao_sample_pitch;
 __pdata gyro_t         ao_sample_yaw;
-__pdata angle_t                ao_orient;
+__pdata angle_t                ao_sample_orient;
 #endif
 
 __data uint8_t         ao_sample_data;
@@ -70,9 +70,9 @@ __pdata int32_t               ao_accel_scale;         /* sensor to m/s² conversion */
 __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 */
@@ -125,33 +125,30 @@ ao_sample_preflight_set(void)
        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;
        ao_sample_pitch_sum = 0;
        ao_sample_yaw_sum = 0;
        ao_sample_roll_sum = 0;
-       ao_orient = 0;
+       ao_sample_orient = 0;
 
        /* No rotation yet */
        ao_quaternion_init_zero_rotation(&ao_rotation);
 
-       /* XXX Assume we're pointing straight up for now */
+       /* Take the pad IMU acceleration values and compute our current direction
+        */
        ao_quaternion_init_vector(&ao_pad_orientation,
-                                 ao_ground_accel_across,
-                                 ao_ground_accel_through,
-                                 -ao_ground_accel_along);
+                                 ao_ground_accel_across - ao_config.accel_zero_across,
+                                 ao_ground_accel_through - ao_config.accel_zero_through,
+                                 -ao_ground_accel_along - ao_config.accel_zero_along);
+
        ao_quaternion_normalize(&ao_pad_orientation,
                                &ao_pad_orientation);
                                  
-       printf ("pad r%8.5f x%8.5f y%8.5f z%8.5f\n",
-               ao_pad_orientation.r,
-               ao_pad_orientation.x,
-               ao_pad_orientation.y,
-               ao_pad_orientation.z);
 #endif 
        nsamples = 0;
 }
@@ -165,13 +162,9 @@ ao_sample_rotate(void)
 #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;
 
@@ -215,7 +208,7 @@ ao_sample_rotate(void)
 
        ao_quaternion_rotate(&point, &ao_pad_orientation, &ao_rotation);
 
-       ao_orient = acosf(point.z) * (float) (180.0/M_PI);
+       ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
 }
 #endif
 
@@ -352,7 +345,7 @@ ao_sample_init(void)
        ao_sample_pitch = 0;
        ao_sample_yaw = 0;
        ao_sample_roll = 0;
-       ao_orient = 0;
+       ao_sample_orient = 0;
 #endif
        ao_sample_data = ao_data_head;
        ao_preflight = TRUE;