altos/kernel: MPU9250 support

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

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 34658951724e7166dbc3008a9079a2f7a1df8e59..61519478a2a2c6ab1df8f36c7db14869e37fe20c 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -179,13 +180,13 @@ static void
 ao_sample_rotate(void)
 {
 #ifdef AO_FLIGHT_TEST
-       float   dt = (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
+       float   dt = (int16_t) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
 #else
        static const float dt = 1/TIME_DIV;
 #endif
-       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;
+       float   x = ao_convert_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
+       float   y = ao_convert_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
+       float   z = ao_convert_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
        struct ao_quaternion    rot;
 
        ao_quaternion_init_half_euler(&rot, x, y, z);
@@ -245,7 +246,7 @@ ao_sample_preflight(void)
        } else {
 #if HAS_ACCEL
                ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
-               ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
+               ao_accel_scale = to_fix_32(GRAVITY * 2 * 16) / ao_accel_2g;
 #endif
                ao_sample_preflight_set();
                ao_preflight = FALSE;