X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.c;h=e3b5e084d8f4c52ec454e30739910bfada8a9912;hp=46771496b69a4745cd6ea24597f9fa048c7243ba;hb=7f46240dfc57164f0c1b0c4c4ed9695bca63860d;hpb=4370b7e7bc48d3f3f3ec94665449f1fde4e9567c

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 46771496..e3b5e084 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -35,7 +35,7 @@
 #define ACCEL_TYPE int16_t
 #endif
 
-uint16_t	ao_sample_tick;		/* time of last data */
+AO_TICK_TYPE	ao_sample_tick;		/* time of last data */
 #if HAS_BARO
 pres_t		ao_sample_pres;
 alt_t		ao_sample_alt;
@@ -57,6 +57,9 @@ angle_t		ao_sample_orient;
 angle_t		ao_sample_orients[AO_NUM_ORIENT];
 uint8_t		ao_sample_orient_pos;
 #endif
+#ifdef HAS_MOTOR_PRESSURE
+motor_pressure_t	ao_sample_motor_pressure;
+#endif
 
 uint8_t		ao_sample_data;
 
@@ -87,6 +90,10 @@ int32_t		ao_ground_yaw;
 int32_t		ao_ground_roll;
 #endif
 
+#if HAS_MOTOR_PRESSURE
+motor_pressure_t	ao_ground_motor_pressure;
+#endif
+
 static uint8_t	ao_preflight;		/* in preflight mode */
 
 static uint16_t	nsamples;
@@ -107,6 +114,9 @@ int32_t ao_sample_yaw_sum;
 int32_t	ao_sample_roll_sum;
 static struct ao_quaternion ao_rotation;
 #endif
+#if HAS_MOTOR_PRESSURE
+int32_t ao_sample_motor_pressure_sum;
+#endif
 
 #if HAS_FLIGHT_DEBUG
 extern uint8_t ao_orient_test;
@@ -130,6 +140,9 @@ ao_sample_preflight_add(void)
 	ao_sample_pitch_sum += ao_sample_pitch;
 	ao_sample_yaw_sum += ao_sample_yaw;
 	ao_sample_roll_sum += ao_sample_roll;
+#endif
+#if HAS_MOTOR_PRESSURE
+	ao_sample_motor_pressure_sum += ao_sample_motor_pressure;
 #endif
 	++nsamples;
 }
@@ -197,15 +210,18 @@ ao_sample_preflight_set(void)
 	ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
 	ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
 	ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
-
+	ao_sample_accel_along_sum = 0;
+	ao_sample_accel_across_sum = 0;
+	ao_sample_accel_through_sum = 0;
+#endif
+#if HAS_MOTOR_PRESSURE
+	ao_ground_motor_pressure = ao_sample_motor_pressure_sum >> 9;
+	ao_sample_motor_pressure_sum = 0;
 #endif
 #if HAS_GYRO
 	ao_ground_pitch = ao_sample_pitch_sum;
 	ao_ground_yaw = ao_sample_yaw_sum;
 	ao_ground_roll = ao_sample_roll_sum;
-	ao_sample_accel_along_sum = 0;
-	ao_sample_accel_across_sum = 0;
-	ao_sample_accel_through_sum = 0;
 	ao_sample_pitch_sum = 0;
 	ao_sample_yaw_sum = 0;
 	ao_sample_roll_sum = 0;
@@ -236,12 +252,14 @@ ao_sample_preflight_set(void)
 	 */
 	ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
 #if HAS_FLIGHT_DEBUG
-	if (ao_orient_test)
+	if (ao_orient_test) {
 		printf("\n\treset across %d through %d along %d\n",
 		       (ao_ground_accel_across - ao_config.accel_zero_across),
 		       (ao_ground_accel_through - ao_config.accel_zero_through),
 		       (ao_ground_accel_along - ao_config.accel_zero_along));
-#endif	
+		fflush(stdout);
+	}
+#endif
 
 	ao_sample_compute_orient();
 	ao_sample_set_all_orients();
@@ -250,14 +268,13 @@ ao_sample_preflight_set(void)
 }
 
 #if HAS_GYRO
-
 #define TIME_DIV	200.0f
 
 static void
 ao_sample_rotate(void)
 {
 #ifdef AO_FLIGHT_TEST
-	float	dt = (int16_t) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
+	float	dt = (AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
 #else
 	static const float dt = 1/TIME_DIV;
 #endif
@@ -279,6 +296,7 @@ ao_sample_rotate(void)
 			(int) (y * 1000),
 			(int) (z * 1000),
 			ao_sample_orient);
+		fflush(stdout);
 	}
 #endif
 	ao_sample_compute_orient();
@@ -379,6 +397,9 @@ ao_sample(void)
 		ao_sample_yaw = ao_data_yaw(ao_data);
 		ao_sample_roll = ao_data_roll(ao_data);
 #endif
+#if HAS_MOTOR_PRESSURE
+		ao_sample_motor_pressure = ao_data_motor_pressure(ao_data);
+#endif
 
 		if (ao_preflight)
 			ao_sample_preflight();