X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.c;h=e3b5e084d8f4c52ec454e30739910bfada8a9912;hp=67f20aff9093b5941a3ccee9ffc5e6e752f96479;hb=7f46240dfc57164f0c1b0c4c4ed9695bca63860d;hpb=d779d8e5b1106aaec6170761e6f5bd4e8d5ac6e7 diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c index 67f20aff..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; @@ -44,10 +44,12 @@ alt_t ao_sample_height; #if HAS_ACCEL accel_t ao_sample_accel; #endif -#if HAS_GYRO +#if HAS_IMU accel_t ao_sample_accel_along; accel_t ao_sample_accel_across; accel_t ao_sample_accel_through; +#endif +#if HAS_GYRO gyro_t ao_sample_roll; gyro_t ao_sample_pitch; gyro_t ao_sample_yaw; @@ -55,6 +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; @@ -73,15 +78,22 @@ accel_t ao_accel_2g; /* factory accel calibration */ int32_t ao_accel_scale; /* sensor to m/s² conversion */ #endif -#if HAS_GYRO +#if HAS_IMU accel_t ao_ground_accel_along; accel_t ao_ground_accel_across; accel_t ao_ground_accel_through; +#endif + +#if HAS_GYRO int32_t ao_ground_pitch; 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; @@ -91,15 +103,20 @@ int32_t ao_sample_pres_sum; #if HAS_ACCEL int32_t ao_sample_accel_sum; #endif -#if HAS_GYRO +#if HAS_IMU int32_t ao_sample_accel_along_sum; int32_t ao_sample_accel_across_sum; int32_t ao_sample_accel_through_sum; +#endif +#if HAS_GYRO int32_t ao_sample_pitch_sum; 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; @@ -114,13 +131,18 @@ ao_sample_preflight_add(void) #if HAS_BARO ao_sample_pres_sum += ao_sample_pres; #endif -#if HAS_GYRO +#if HAS_IMU ao_sample_accel_along_sum += ao_sample_accel_along; ao_sample_accel_across_sum += ao_sample_accel_across; ao_sample_accel_through_sum += ao_sample_accel_through; +#endif +#if HAS_GYRO 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; } @@ -184,16 +206,22 @@ ao_sample_preflight_set(void) ao_ground_height = pres_to_altitude(ao_ground_pres); ao_sample_pres_sum = 0; #endif -#if HAS_GYRO +#if HAS_IMU 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_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; +#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_pitch_sum = 0; ao_sample_yaw_sum = 0; ao_sample_roll_sum = 0; @@ -224,12 +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(); @@ -238,14 +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 @@ -267,6 +296,7 @@ ao_sample_rotate(void) (int) (y * 1000), (int) (z * 1000), ao_sample_orient); + fflush(stdout); } #endif ao_sample_compute_orient(); @@ -310,6 +340,10 @@ ao_sample_preflight_update(void) ++nsamples; else ao_sample_preflight_set(); +#if !HAS_BARO + if ((nsamples & 0x3f) == 0) + ao_kalman_reset_accumulate(); +#endif } #if 0 @@ -353,14 +387,19 @@ ao_sample(void) #if HAS_ACCEL ao_sample_accel = ao_data_accel(ao_data); #endif -#if HAS_GYRO +#if HAS_IMU ao_sample_accel_along = ao_data_along(ao_data); ao_sample_accel_across = ao_data_across(ao_data); ao_sample_accel_through = ao_data_through(ao_data); +#endif +#if HAS_GYRO ao_sample_pitch = ao_data_pitch(ao_data); 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(); @@ -393,13 +432,15 @@ ao_sample_init(void) ao_sample_accel_sum = 0; ao_sample_accel = 0; #endif -#if HAS_GYRO +#if HAS_IMU ao_sample_accel_along_sum = 0; ao_sample_accel_across_sum = 0; ao_sample_accel_through_sum = 0; ao_sample_accel_along = 0; ao_sample_accel_across = 0; ao_sample_accel_through = 0; +#endif +#if HAS_GYRO ao_sample_pitch_sum = 0; ao_sample_yaw_sum = 0; ao_sample_roll_sum = 0;