This lets us use a simple shift instead of a divide, saving a huge
amount of code space.
Signed-off-by: Keith Packard <keithp@keithp.com>
/* startup state:
*
- * Collect 1000 samples of acceleration and pressure
+ * Collect 512 samples of acceleration and pressure
* data and average them to find the resting values
*/
- if (nsamples < 1000) {
+ if (nsamples < 512) {
ao_raw_accel_sum += ao_raw_accel;
ao_raw_pres_sum += ao_raw_pres;
++nsamples;
continue;
}
- ao_ground_accel = (ao_raw_accel_sum / nsamples);
- ao_ground_pres = (ao_raw_pres_sum / nsamples);
+ ao_ground_accel = ao_raw_accel_sum >> 9;
+ ao_ground_pres = ao_raw_pres_sum >> 9;
ao_min_pres = ao_ground_pres;
ao_config_get();
ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);