altos: Switch all tick variables to AO_TICK_TYPE/AO_TICK_SIGNED

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

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 67f20aff9093b5941a3ccee9ffc5e6e752f96479..e3b5e084d8f4c52ec454e30739910bfada8a9912 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -35,7 +35,7 @@
 #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;
@@ -44,10 +44,12 @@ alt_t               ao_sample_height;
 #if HAS_ACCEL
 accel_t                ao_sample_accel;
 #endif
-#if HAS_GYRO
+#if HAS_IMU
 accel_t                ao_sample_accel_along;
 accel_t                ao_sample_accel_across;
 accel_t                ao_sample_accel_through;
+#endif
+#if HAS_GYRO
 gyro_t         ao_sample_roll;
 gyro_t         ao_sample_pitch;
 gyro_t         ao_sample_yaw;
@@ -55,6 +57,9 @@ angle_t               ao_sample_orient;
 angle_t                ao_sample_orients[AO_NUM_ORIENT];
 uint8_t                ao_sample_orient_pos;
 #endif
+#ifdef HAS_MOTOR_PRESSURE
+motor_pressure_t       ao_sample_motor_pressure;
+#endif
 
 uint8_t                ao_sample_data;
 
@@ -73,15 +78,22 @@ accel_t             ao_accel_2g;            /* factory accel calibration */
 int32_t                ao_accel_scale;         /* sensor to m/s² conversion */
 #endif
 
-#if HAS_GYRO
+#if HAS_IMU
 accel_t                ao_ground_accel_along;
 accel_t                ao_ground_accel_across;
 accel_t                ao_ground_accel_through;
+#endif
+
+#if HAS_GYRO
 int32_t                ao_ground_pitch;
 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;
@@ -91,15 +103,20 @@ int32_t ao_sample_pres_sum;
 #if HAS_ACCEL
 int32_t ao_sample_accel_sum;
 #endif
-#if HAS_GYRO
+#if HAS_IMU
 int32_t ao_sample_accel_along_sum;
 int32_t ao_sample_accel_across_sum;
 int32_t        ao_sample_accel_through_sum;
+#endif
+#if HAS_GYRO
 int32_t ao_sample_pitch_sum;
 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;
@@ -114,13 +131,18 @@ ao_sample_preflight_add(void)
 #if HAS_BARO
        ao_sample_pres_sum += ao_sample_pres;
 #endif
-#if HAS_GYRO
+#if HAS_IMU
        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;
+#endif
+#if HAS_GYRO
        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;
 }
@@ -184,16 +206,22 @@ ao_sample_preflight_set(void)
        ao_ground_height = pres_to_altitude(ao_ground_pres);
        ao_sample_pres_sum = 0;
 #endif
-#if HAS_GYRO
+#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_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;
+#endif
+#if HAS_MOTOR_PRESSURE
+       ao_ground_motor_pressure = 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_pitch_sum = 0;
        ao_sample_yaw_sum = 0;
        ao_sample_roll_sum = 0;
@@ -224,12 +252,14 @@ 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();
@@ -238,14 +268,13 @@ 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
@@ -267,6 +296,7 @@ ao_sample_rotate(void)
                        (int) (y * 1000),
                        (int) (z * 1000),
                        ao_sample_orient);
+               fflush(stdout);
        }
 #endif
        ao_sample_compute_orient();
@@ -310,6 +340,10 @@ ao_sample_preflight_update(void)
                ++nsamples;
        else
                ao_sample_preflight_set();
+#if !HAS_BARO
+       if ((nsamples & 0x3f) == 0)
+               ao_kalman_reset_accumulate();
+#endif
 }
 
 #if 0
@@ -353,14 +387,19 @@ ao_sample(void)
 #if HAS_ACCEL
                ao_sample_accel = ao_data_accel(ao_data);
 #endif
-#if HAS_GYRO
+#if HAS_IMU
                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);
+#endif
+#if HAS_GYRO
                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 HAS_MOTOR_PRESSURE
+               ao_sample_motor_pressure = ao_data_motor_pressure(ao_data);
+#endif
 
                if (ao_preflight)
                        ao_sample_preflight();
@@ -393,13 +432,15 @@ ao_sample_init(void)
        ao_sample_accel_sum = 0;
        ao_sample_accel = 0;
 #endif
-#if HAS_GYRO
+#if HAS_IMU
        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;
+#endif
+#if HAS_GYRO
        ao_sample_pitch_sum = 0;
        ao_sample_yaw_sum = 0;
        ao_sample_roll_sum = 0;