name change from MegaMetrum to TeleMega

[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 acdf4d926a3ead68460fd6b284d2e656a30ebf8f..99bed7eeb94df17dbd94f3560d5b7fe93a2c2ca8 100644 (file)
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -35,7 +35,7 @@
 #define AO_MS_TO_SPEED(ms)     ((int16_t) ((ms) * 16))
 #define AO_MSS_TO_ACCEL(mss)   ((int16_t) ((mss) * 16))
 
-#if MEGAMETRUM
+#if TELEMEGA
 #define AO_ADC_NUM_SENSE       6
 #define HAS_MS5607             1
 #define HAS_MPU6000            1
@@ -195,7 +195,7 @@ struct ao_cmds {
 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 
 #define AO_NEED_ALTITUDE_TO_PRES 1
-#if MEGAMETRUM
+#if TELEMEGA
 #include "ao_convert_pa.c"
 #include <ao_ms5607.h>
 struct ao_ms5607_prom  ms5607_prom;
@@ -236,10 +236,14 @@ extern int32_t    ao_accel_scale;
 extern alt_t   ao_ground_height;
 extern alt_t   ao_sample_alt;
 
+double ao_sample_qangle;
+
 int ao_sample_prev_tick;
 uint16_t       prev_tick;
 
+
 #include "ao_kalman.c"
+#include "ao_sqrt.c"
 #include "ao_sample.c"
 #include "ao_flight.c"
 
@@ -309,7 +313,7 @@ ao_mpu6000_accel(int16_t sensor)
 }
 
 static double
-ao_mpu6000_gyro(int16_t sensor)
+ao_mpu6000_gyro(int32_t sensor)
 {
        return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE;
 }
@@ -329,7 +333,7 @@ ao_insert(void)
 #else
                double  accel = 0.0;
 #endif
-#if MEGAMETRUM
+#if TELEMEGA
                double  height;
 
                ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
@@ -369,14 +373,18 @@ ao_insert(void)
 
                if (!ao_summary) {
                        printf("%7.2f height %8.2f accel %8.3f "
-#if MEGAMETRUM
+#if TELEMEGA
+                              "roll %8.3f angle %8.3f qangle %8.3f "
                               "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f "
 #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",
                               time,
                               height,
                               accel,
-#if MEGAMETRUM
+#if TELEMEGA
+                              ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0,
+                              ao_mpu6000_gyro(ao_sample_angle) / 100.0,
+                              ao_sample_qangle,
                               ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
                               ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
                               ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
@@ -547,7 +555,7 @@ int32(uint8_t *bytes, int off)
 
 static int log_format;
 
-#if MEGAMETRUM
+#if TELEMEGA
 
 static double
 ao_vec_norm(double x, double y, double z)
@@ -715,12 +723,14 @@ update_orientation (double rate_x, double rate_y, double rate_z, int tick)
        q_dot.q2 =  0.5 * (ao_orient.q0 * rate_y + ao_orient.q3 * rate_x - ao_orient.q1 * rate_z) + lambda * ao_orient.q2;
        q_dot.q3 =  0.5 * (ao_orient.q0 * rate_z + ao_orient.q1 * rate_y - ao_orient.q2 * rate_x) + lambda * ao_orient.q3;
 
+#if 0
        printf ("update_orientation %g %g %g (%g s)\n", rate_x, rate_y, rate_z, dt);
        printf ("q_dot (%g) %g %g %g\n",
                q_dot.q0,
                q_dot.q1,
                q_dot.q2,
                q_dot.q3);
+#endif
 
        ao_orient.q0 += q_dot.q0 * dt;
        ao_orient.q1 += q_dot.q1 * dt;
@@ -731,6 +741,8 @@ update_orientation (double rate_x, double rate_y, double rate_z, int tick)
 
        ao_quat_rot(&ao_current, &ao_up, &ao_orient);
 
+       ao_sample_qangle = 180 / M_PI * acos(ao_current.q3 * sqrt(2));
+#if 0
        printf ("orient (%g) %g %g %g current (%g) %g %g %g\n",
                ao_orient.q0,
                ao_orient.q1,
@@ -740,6 +752,7 @@ update_orientation (double rate_x, double rate_y, double rate_z, int tick)
                ao_current.q1,
                ao_current.q2,
                ao_current.q3);
+#endif
 }
 #endif
 
@@ -761,7 +774,7 @@ ao_sleep(void *wchan)
                for (;;) {
                        if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
                        {
-#if MEGAMETRUM
+#if TELEMEGA
                                ao_data_static.mpu6000 = ao_ground_mpu6000;
 #else
                                ao_data_static.adc.accel = ao_flight_ground_accel;
@@ -787,8 +800,8 @@ ao_sleep(void *wchan)
                                if (words[nword] == NULL)
                                        break;
                        }
-#if MEGAMETRUM
-                       if (log_format == AO_LOG_FORMAT_MEGAMETRUM && nword == 30 && strlen(words[0]) == 1) {
+#if TELEMEGA
+                       if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
                                int     i;
                                struct ao_ms5607_value  value;
 
@@ -845,7 +858,7 @@ ao_sleep(void *wchan)
                                                double          rate_y = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y);
                                                double          rate_z = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z);
 
-                                               update_orientation(rate_x, rate_z, rate_y, tick);
+                                               update_orientation(rate_x * M_PI / 180, rate_z * M_PI / 180, rate_y * M_PI / 180, tick);
                                        }
                                        ao_records_read++;
                                        ao_insert();
@@ -872,7 +885,7 @@ ao_sleep(void *wchan)
                                continue;
                        }
 #else
-                       if (nword == 4 && log_format != AO_LOG_FORMAT_MEGAMETRUM) {
+                       if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
                                type = words[0][0];
                                tick = strtoul(words[1], NULL, 16);
                                a = strtoul(words[2], NULL, 16);
@@ -989,7 +1002,7 @@ ao_sleep(void *wchan)
                        if (type != 'F' && !ao_flight_started)
                                continue;
 
-#if MEGAMETRUM
+#if TELEMEGA
                        (void) a;
                        (void) b;
 #else