X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_microflight.c;fp=src%2Fcore%2Fao_microflight.c;h=0000000000000000000000000000000000000000;hp=f680e4005c98a5cf9be432ed61509f79d1239863;hb=24167015705ae831692b95735968b04a876f935e;hpb=bb9fdef607728cc326a82aa632e59724f272e53b

diff --git a/src/core/ao_microflight.c b/src/core/ao_microflight.c
deleted file mode 100644
index f680e400..00000000
--- a/src/core/ao_microflight.c
+++ /dev/null
@@ -1,143 +0,0 @@
-/*
- * Copyright © 2013 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include <ao.h>
-#endif
-#include <ao_micropeak.h>
-#include <ao_log_micro.h>
-
-uint32_t	pa;
-uint32_t	pa_ground;
-uint32_t	pa_min;
-
-static void
-ao_microsample(void)
-{
-	ao_pa_get();
-	ao_microkalman_predict();
-	ao_microkalman_correct();
-}
-
-#define NUM_PA_HIST	(GROUND_AVG)
-
-#define SKIP_PA_HIST(i,j)	(((i) + (j)) & (NUM_PA_HIST - 1))
-
-static uint32_t	pa_hist[NUM_PA_HIST];
-
-void
-ao_microflight(void)
-{
-	int16_t		sample_count;
-	uint16_t	time;
-	uint32_t	pa_interval_min, pa_interval_max;
-	int32_t		pa_diff;
-	uint8_t		h, i;
-	uint8_t		accel_lock = 0;
-	uint32_t	pa_sum = 0;
-
-	/* Wait for motion, averaging values to get ground pressure */
-
-	time = ao_time();
-	ao_pa_get();
-	ao_microkalman_init();
-	pa_ground = pa;
-	sample_count = 0;
-	h = 0;
-	for (;;) {
-		time += SAMPLE_SLEEP;
-		if ((sample_count & 0x1f) == 0)
-			ao_led_on(AO_LED_REPORT);
-		ao_delay_until(time);
-		ao_microsample();
-		if ((sample_count & 0x1f) == 0)
-			ao_led_off(AO_LED_REPORT);
-		pa_hist[h] = pa;
-		h = SKIP_PA_HIST(h,1);
-		pa_diff = pa_ground - ao_pa;
-
-		/* Check for a significant pressure change */
-		if (pa_diff > BOOST_DETECT)
-			break;
-
-		if (sample_count < GROUND_AVG * 2) {
-			if (sample_count < GROUND_AVG)
-				pa_sum += pa;
-			++sample_count;
-		} else {
-			pa_ground = pa_sum >> GROUND_AVG_SHIFT;
-			pa_sum = 0;
-			sample_count = 0;
-		}
-	}
-
-	/* Go back and find the last sample close to the ground */
-	pa_min = pa_ground - LAND_DETECT;
-	for (i = SKIP_PA_HIST(h,-2); i != SKIP_PA_HIST(h,2); i = SKIP_PA_HIST(i,-2)) {
-		if (pa_hist[i] >= pa_min)
-			break;
-	}
-
-	/* Log the remaining samples so we get a complete history since leaving the ground */
-	for (; i != h; i = SKIP_PA_HIST(i,2)) {
-		pa = pa_hist[i];
-		ao_log_micro_data();
-	}
-
-	/* Now sit around until the pressure is stable again and record the max */
-
-	sample_count = 0;
-	pa_min = ao_pa;
-	pa_interval_min = ao_pa;
-	pa_interval_max = ao_pa;
-	for (;;) {
-		time += SAMPLE_SLEEP;
-		ao_delay_until(time);
-		if ((sample_count & 3) == 0)
-			ao_led_on(AO_LED_REPORT);
-		ao_microsample();
-		if ((sample_count & 3) == 0)
-			ao_led_off(AO_LED_REPORT);
-		if (sample_count & 1)
-			ao_log_micro_data();
-
-		/* If accelerating upwards, don't look for min pressure */
-		if (ao_pa_accel < ACCEL_LOCK_PA)
-			accel_lock = ACCEL_LOCK_TIME;
-		else if (accel_lock)
-			--accel_lock;
-		else if (ao_pa < pa_min)
-			pa_min = ao_pa;
-
-		if (sample_count == (GROUND_AVG - 1)) {
-			pa_diff = pa_interval_max - pa_interval_min;
-
-			/* Check to see if the pressure is now stable */
-			if (pa_diff < LAND_DETECT)
-				break;
-			sample_count = 0;
-			pa_interval_min = ao_pa;
-			pa_interval_max = ao_pa;
-		} else {
-			if (ao_pa < pa_interval_min)
-				pa_interval_min = ao_pa;
-			if (ao_pa > pa_interval_max)
-				pa_interval_max = ao_pa;
-			++sample_count;
-		}
-	}
-}