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 985c094046de9ad9923f0aa7803c6a9f899e3c46..dec44f9fa0910aa422ce8e7771c75001aba3fb94 100644 (file)
--- a/src/core/ao_sample.c
+++ b/src/core/ao_sample.c
@@ -37,6 +37,16 @@ __pdata alt_t                ao_sample_height;
 #if HAS_ACCEL
 __pdata accel_t                ao_sample_accel;
 #endif
+#if HAS_GYRO
+__pdata accel_t                ao_sample_accel_along;
+__pdata accel_t                ao_sample_accel_across;
+__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_sample_angle;
+__pdata angle_t                ao_sample_roll_angle;
+#endif
 
 __data uint8_t         ao_sample_data;
 
@@ -53,6 +63,15 @@ __pdata accel_t              ao_accel_2g;            /* factory accel calibration */
 __pdata int32_t                ao_accel_scale;         /* sensor to m/s² conversion */
 #endif
 
+#if HAS_GYRO
+__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;
+#endif
+
 static __pdata uint8_t ao_preflight;           /* in preflight mode */
 
 static __pdata uint16_t        nsamples;
@@ -60,6 +79,14 @@ __pdata int32_t ao_sample_pres_sum;
 #if HAS_ACCEL
 __pdata int32_t ao_sample_accel_sum;
 #endif
+#if HAS_GYRO
+__pdata int32_t ao_sample_accel_along_sum;
+__pdata int32_t ao_sample_accel_across_sum;
+__pdata int32_t        ao_sample_accel_through_sum;
+__pdata int32_t ao_sample_pitch_sum;
+__pdata int32_t ao_sample_yaw_sum;
+__pdata int32_t        ao_sample_roll_sum;
+#endif
 
 static void
 ao_sample_preflight_add(void)
@@ -68,6 +95,14 @@ ao_sample_preflight_add(void)
        ao_sample_accel_sum += ao_sample_accel;
 #endif
        ao_sample_pres_sum += ao_sample_pres;
+#if HAS_GYRO
+       ao_sample_accel_along_sum += ao_sample_accel_along;
+       ao_sample_accel_across_sum += ao_sample_accel_across;
+       ao_sample_accel_through_sum += ao_sample_accel_through;
+       ao_sample_pitch_sum += ao_sample_pitch;
+       ao_sample_yaw_sum += ao_sample_yaw;
+       ao_sample_roll_sum += ao_sample_roll;
+#endif
        ++nsamples;
 }
 
@@ -80,8 +115,23 @@ ao_sample_preflight_set(void)
 #endif
        ao_ground_pres = ao_sample_pres_sum >> 9;
        ao_ground_height = pres_to_altitude(ao_ground_pres);
-       nsamples = 0;
        ao_sample_pres_sum = 0;
+#if HAS_GYRO
+       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_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_sample_angle = 0;
+#endif 
+       nsamples = 0;
 }
 
 static void
@@ -122,6 +172,25 @@ ao_sample_preflight_update(void)
                ao_sample_preflight_set();
 }
 
+#if 0
+#if HAS_GYRO
+static int32_t p_filt;
+static int32_t y_filt;
+
+static gyro_t inline ao_gyro(void) {
+       gyro_t  p = ao_sample_pitch - ao_ground_pitch;
+       gyro_t  y = ao_sample_yaw - ao_ground_yaw;
+
+       p_filt = p_filt - (p_filt >> 6) + p;
+       y_filt = y_filt - (y_filt >> 6) + y;
+
+       p = p_filt >> 6;
+       y = y_filt >> 6;
+       return ao_sqrt(p*p + y*y);
+}
+#endif
+#endif
+
 uint8_t
 ao_sample(void)
 {
@@ -147,6 +216,14 @@ ao_sample(void)
                        ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
                ao_data_set_accel(ao_data, ao_sample_accel);
 #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);
+#endif
 
                if (ao_preflight)
                        ao_sample_preflight();
@@ -154,6 +231,9 @@ ao_sample(void)
                        if (ao_flight_state < ao_flight_boost)
                                ao_sample_preflight_update();
                        ao_kalman();
+#if HAS_GYRO
+                       /* do quaternion stuff here... */
+#endif
                }
                ao_sample_data = ao_data_ring_next(ao_sample_data);
        }
@@ -170,6 +250,21 @@ ao_sample_init(void)
 #if HAS_ACCEL
        ao_sample_accel_sum = 0;
        ao_sample_accel = 0;
+#endif
+#if HAS_GYRO
+       ao_sample_accel_along_sum = 0;
+       ao_sample_accel_across_sum = 0;
+       ao_sample_accel_through_sum = 0;
+       ao_sample_accel_along = 0;
+       ao_sample_accel_across = 0;
+       ao_sample_accel_through = 0;
+       ao_sample_pitch_sum = 0;
+       ao_sample_yaw_sum = 0;
+       ao_sample_roll_sum = 0;
+       ao_sample_pitch = 0;
+       ao_sample_yaw = 0;
+       ao_sample_roll = 0;
+       ao_sample_angle = 0;
 #endif
        ao_sample_data = ao_data_head;
        ao_preflight = TRUE;