first cut at turnon scripts for EasyTimer v2

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

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 46771496b69a4745cd6ea24597f9fa048c7243ba..422ccec610332c78fc8286cf26670c6c5a62fd1f 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -21,6 +21,10 @@
 #include <ao_data.h>
 #endif
 
+#ifndef HAS_KALMAN
+#define HAS_KALMAN 1
+#endif
+
 #if HAS_GYRO
 #include <ao_quaternion.h>
 #endif
@@ -35,7 +39,7 @@
 #define ACCEL_TYPE int16_t
 #endif
 
-uint16_t       ao_sample_tick;         /* time of last data */
+AO_TICK_TYPE   ao_sample_tick;         /* time of last data */
 #if HAS_BARO
 pres_t         ao_sample_pres;
 alt_t          ao_sample_alt;
@@ -57,6 +61,9 @@ angle_t               ao_sample_orient;
 angle_t                ao_sample_orients[AO_NUM_ORIENT];
 uint8_t                ao_sample_orient_pos;
 #endif
+#if HAS_MOTOR_PRESSURE
+motor_pressure_t       ao_sample_motor_pressure;
+#endif
 
 uint8_t                ao_sample_data;
 
@@ -87,6 +94,10 @@ int32_t              ao_ground_yaw;
 int32_t                ao_ground_roll;
 #endif
 
+#if HAS_MOTOR_PRESSURE
+motor_pressure_t       ao_ground_motor_pressure;
+#endif
+
 static uint8_t ao_preflight;           /* in preflight mode */
 
 static uint16_t        nsamples;
@@ -107,6 +118,9 @@ int32_t ao_sample_yaw_sum;
 int32_t        ao_sample_roll_sum;
 static struct ao_quaternion ao_rotation;
 #endif
+#if HAS_MOTOR_PRESSURE
+int32_t ao_sample_motor_pressure_sum;
+#endif
 
 #if HAS_FLIGHT_DEBUG
 extern uint8_t ao_orient_test;
@@ -130,6 +144,9 @@ ao_sample_preflight_add(void)
        ao_sample_pitch_sum += ao_sample_pitch;
        ao_sample_yaw_sum += ao_sample_yaw;
        ao_sample_roll_sum += ao_sample_roll;
+#endif
+#if HAS_MOTOR_PRESSURE
+       ao_sample_motor_pressure_sum += ao_sample_motor_pressure;
 #endif
        ++nsamples;
 }
@@ -148,7 +165,7 @@ static void
 ao_sample_set_one_orient(void)
 {
        ao_sample_orients[ao_sample_orient_pos] = ao_sample_orient;
-       ao_sample_orient_pos = (ao_sample_orient_pos + 1) % AO_NUM_ORIENT;
+       ao_sample_orient_pos = (uint8_t) ((ao_sample_orient_pos + 1) % AO_NUM_ORIENT);
 }
 
 static void
@@ -177,7 +194,7 @@ ao_sample_compute_orient(void)
        float rotz;
        rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
 
-       ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
+       ao_sample_orient = (angle_t) (acosf(rotz) * (float) (180.0/M_PI));
 }
 #endif /* HAS_GYRO */
 
@@ -185,7 +202,7 @@ static void
 ao_sample_preflight_set(void)
 {
 #if HAS_ACCEL
-       ao_ground_accel = ao_sample_accel_sum >> 9;
+       ao_ground_accel = (accel_t) (ao_sample_accel_sum >> 9);
        ao_sample_accel_sum = 0;
 #endif
 #if HAS_BARO
@@ -194,18 +211,21 @@ ao_sample_preflight_set(void)
        ao_sample_pres_sum = 0;
 #endif
 #if HAS_IMU
-       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_accel_along = (accel_t) (ao_sample_accel_along_sum >> 9);
+       ao_ground_accel_across = (accel_t) (ao_sample_accel_across_sum >> 9);
+       ao_ground_accel_through = (accel_t) (ao_sample_accel_through_sum >> 9);
+       ao_sample_accel_along_sum = 0;
+       ao_sample_accel_across_sum = 0;
+       ao_sample_accel_through_sum = 0;
+#endif
+#if HAS_MOTOR_PRESSURE
+       ao_ground_motor_pressure = (motor_pressure_t) (ao_sample_motor_pressure_sum >> 9);
+       ao_sample_motor_pressure_sum = 0;
 #endif
 #if HAS_GYRO
        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;
@@ -236,12 +256,14 @@ ao_sample_preflight_set(void)
         */
        ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
 #if HAS_FLIGHT_DEBUG
-       if (ao_orient_test)
+       if (ao_orient_test) {
                printf("\n\treset across %d through %d along %d\n",
                       (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));
-#endif 
+               fflush(stdout);
+       }
+#endif
 
        ao_sample_compute_orient();
        ao_sample_set_all_orients();
@@ -250,14 +272,13 @@ ao_sample_preflight_set(void)
 }
 
 #if HAS_GYRO
-
 #define TIME_DIV       200.0f
 
 static void
 ao_sample_rotate(void)
 {
 #ifdef AO_FLIGHT_TEST
-       float   dt = (int16_t) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
+       float   dt = (AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
 #else
        static const float dt = 1/TIME_DIV;
 #endif
@@ -279,6 +300,7 @@ ao_sample_rotate(void)
                        (int) (y * 1000),
                        (int) (z * 1000),
                        ao_sample_orient);
+               fflush(stdout);
        }
 #endif
        ao_sample_compute_orient();
@@ -322,7 +344,7 @@ ao_sample_preflight_update(void)
                ++nsamples;
        else
                ao_sample_preflight_set();
-#if !HAS_BARO
+#if !HAS_BARO && HAS_KALMAN
        if ((nsamples & 0x3f) == 0)
                ao_kalman_reset_accumulate();
 #endif
@@ -379,13 +401,18 @@ ao_sample(void)
                ao_sample_yaw = ao_data_yaw(ao_data);
                ao_sample_roll = ao_data_roll(ao_data);
 #endif
+#if HAS_MOTOR_PRESSURE
+               ao_sample_motor_pressure = ao_data_motor_pressure(ao_data);
+#endif
 
                if (ao_preflight)
                        ao_sample_preflight();
                else {
                        if (ao_flight_state < ao_flight_boost)
                                ao_sample_preflight_update();
+#if HAS_KALMAN
                        ao_kalman();
+#endif
 #if HAS_GYRO
                        ao_sample_rotate();
 #endif