altos: Actually record ground averages for 6dof sensor

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

diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c
index 7a1eff8e7e5f361680b7af8897d2db71e9187bde..dec44f9fa0910aa422ce8e7771c75001aba3fb94 100644 (file)
--- a/src/core/ao_sample.c
+++ b/src/core/ao_sample.c
@@ -172,8 +172,8 @@ ao_sample_preflight_update(void)
                ao_sample_preflight_set();
 }
 
+#if 0
 #if HAS_GYRO
-
 static int32_t p_filt;
 static int32_t y_filt;
 
@@ -189,6 +189,7 @@ static gyro_t inline ao_gyro(void) {
        return ao_sqrt(p*p + y*y);
 }
 #endif
+#endif
 
 uint8_t
 ao_sample(void)
@@ -217,6 +218,8 @@ ao_sample(void)
 #endif
 #if HAS_GYRO
                ao_sample_accel_along = ao_data_along(ao_data);
+               ao_sample_accel_across = ao_data_across(ao_data);
+               ao_sample_accel_through = ao_data_through(ao_data);
                ao_sample_pitch = ao_data_pitch(ao_data);
                ao_sample_yaw = ao_data_yaw(ao_data);
                ao_sample_roll = ao_data_roll(ao_data);
@@ -229,8 +232,7 @@ ao_sample(void)
                                ao_sample_preflight_update();
                        ao_kalman();
 #if HAS_GYRO
-                       ao_sample_angle += ao_gyro();
-                       ao_sample_roll_angle += (ao_sample_roll - ao_ground_roll);
+                       /* do quaternion stuff here... */
 #endif
                }
                ao_sample_data = ao_data_ring_next(ao_sample_data);