altos: Calibrate IMU accelerometers too

[fw/altos] / src / test / ao_flight_test.c

diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index e2f63e3498278614e36edec310b33ea720f6afbd..7f18c80e7d3db0551fbedf219073c85b81a7006e 100644 (file)
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -234,6 +234,9 @@ struct ao_config {
        uint16_t        apogee_lockout;
 #if TELEMEGA
        struct ao_pyro  pyro[AO_PYRO_NUM];      /* minor version 12 */
        uint16_t        apogee_lockout;
 #if TELEMEGA
        struct ao_pyro  pyro[AO_PYRO_NUM];      /* minor version 12 */

+       int16_t         accel_zero_along;
+       int16_t         accel_zero_across;
+       int16_t         accel_zero_through;

 #endif
 };
 
 #endif
 };
 


@@ -719,6 +722,13 @@ ao_sleep(void *wchan)
                        } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
                                ao_config.accel_plus_g = atoi(words[3]);
                                ao_config.accel_minus_g = atoi(words[5]);
                        } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
                                ao_config.accel_plus_g = atoi(words[3]);
                                ao_config.accel_minus_g = atoi(words[5]);

+#ifdef TELEMEGA
+                       } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
+                               ao_config.accel_zero_along = atoi(words[3]);
+                               ao_config.accel_zero_across = atoi(words[5]);
+                               ao_config.accel_zero_through = atoi(words[7]);
+                               printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through);
+#endif

                        } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
                                ao_config.main_deploy = atoi(words[2]);
                        } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
                        } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
                                ao_config.main_deploy = atoi(words[2]);
                        } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&