X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_flight_test.c;h=57785442553b09486317b2c5649f016cd0b4ecc4;hp=91aa0f738064703eee090fd6f6b5398a6815ffff;hb=4e2c18249e16c98cf5f7dccdf8d3b84bc473863a;hpb=43a94380032300a2e33e1faa1efe93e858e0a2cf

diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c
index 91aa0f73..57785442 100644
--- a/src/ao_flight_test.c
+++ b/src/ao_flight_test.c
@@ -41,6 +41,7 @@ struct ao_adc {
 	uint16_t	tick;		/* tick when the sample was read */
 	int16_t		accel;		/* accelerometer */
 	int16_t		pres;		/* pressure sensor */
+	int16_t		pres_real;	/* unclipped */
 	int16_t		temp;		/* temperature sensor */
 	int16_t		v_batt;		/* battery voltage */
 	int16_t		sense_d;	/* drogue continuity sense */
@@ -53,6 +54,24 @@ struct ao_adc {
 #define __code
 #define __reentrant
 
+#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define from_fix(x)	((x) >> 16)
+
+/*
+ * Above this height, the baro sensor doesn't work
+ */
+#define AO_MAX_BARO_HEIGHT	12000
+#define AO_BARO_SATURATE	13000
+#define AO_MIN_BARO_VALUE	ao_altitude_to_pres(AO_BARO_SATURATE)
+
+/*
+ * Above this speed, baro measurements are unreliable
+ */
+#define AO_MAX_BARO_SPEED	200
+
+#define ACCEL_NOSE_UP	(ao_accel_2g >> 2)
+
 enum ao_flight_state {
 	ao_flight_startup = 0,
 	ao_flight_idle = 1,
@@ -66,6 +85,11 @@ enum ao_flight_state {
 	ao_flight_invalid = 9
 };
 
+extern enum ao_flight_state ao_flight_state;
+
+#define FALSE 0
+#define TRUE 1
+
 struct ao_adc ao_adc_ring[AO_ADC_RING];
 uint8_t ao_adc_head;
 int	ao_summary = 0;
@@ -171,15 +195,27 @@ struct ao_config ao_config;
 #define HAS_ACCEL_REF 0
 #endif
 
-#include "ao_flight.c"
-
-#define to_double(f)	((f) / 65536.0)
-
 #define GRAVITY 9.80665
-extern int16_t ao_ground_accel, ao_raw_accel;
+extern int16_t ao_ground_accel, ao_flight_accel;
 extern int16_t ao_accel_2g;
 
+extern uint16_t	ao_sample_tick;
+
+extern int16_t	ao_sample_height;
+extern int16_t	ao_sample_accel;
+extern int32_t	ao_accel_scale;
+extern int16_t	ao_ground_height;
+extern int16_t	ao_sample_alt;
+
+int ao_sample_prev_tick;
 uint16_t	prev_tick;
+
+#include "ao_kalman.c"
+#include "ao_sample.c"
+#include "ao_flight.c"
+
+#define to_double(f)	((f) / 65536.0)
+
 static int	ao_records_read = 0;
 static int	ao_eof_read = 0;
 static int	ao_flight_ground_accel;
@@ -224,7 +260,7 @@ ao_insert(void)
 	ao_adc_ring[ao_adc_head] = ao_adc_static;
 	ao_adc_head = ao_adc_ring_next(ao_adc_head);
 	if (ao_flight_state != ao_flight_startup) {
-		double	height = ao_pres_to_altitude(ao_raw_pres) - ao_ground_height;
+		double	height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
 		double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
 			(ao_config.accel_minus_g - ao_config.accel_plus_g);
 
@@ -342,6 +378,9 @@ ao_sleep(void *wchan)
 			case 'A':
 				ao_adc_static.tick = tick;
 				ao_adc_static.accel = a;
+				ao_adc_static.pres_real = b;
+				if (b < AO_MIN_BARO_VALUE)
+					b = AO_MIN_BARO_VALUE;
 				ao_adc_static.pres = b;
 				ao_records_read++;
 				ao_insert();