int tick_offset;
static ao_k_t ao_k_height;
+static double simple_speed;
int16_t
ao_time(void)
tick_offset = -ao_data_static.tick;
if ((prev_tick - ao_data_static.tick) > 0x400)
tick_offset += 65536;
+ simple_speed += accel * (ao_data_static.tick - prev_tick) / 100.0;
prev_tick = ao_data_static.tick;
time = (double) (ao_data_static.tick + tick_offset) / 100;
#endif
#if 1
- printf("%7.2f height %8.2f accel %8.3f "
-#if TELEMEGA && 1
- "angle %5d "
+ printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
+ "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
+#if TELEMEGA
+ " angle %5d "
"accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d "
#endif
- "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
+ "\n",
time,
height,
accel,
-#if TELEMEGA && 1
- ao_sample_orient,
+ simple_speed > -100.0 ? simple_speed : -100.0,
+ ao_state_names[ao_flight_state],
+ ao_k_height / 65536.0,
+ ao_k_speed / 65536.0 / 16.0,
+ ao_k_accel / 65536.0 / 16.0,
+ ao_avg_height,
+ drogue_height,
+ main_height,
+ ao_error_h_sq_avg
+#if TELEMEGA
+ , ao_sample_orient,
ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
ao_data_static.hmc5883.x,
ao_data_static.hmc5883.y,
ao_data_static.hmc5883.z,
- ao_mag_angle,
+ ao_mag_angle
#endif
- ao_state_names[ao_flight_state],
- ao_k_height / 65536.0,
- ao_k_speed / 65536.0 / 16.0,
- ao_k_accel / 65536.0 / 16.0,
- ao_avg_height,
- drogue_height,
- main_height,
- ao_error_h_sq_avg);
+ );
#endif
-
+
// if (ao_flight_state == ao_flight_landed)
// ao_test_exit();
}