altos: Write height values to log for nano/mini

This is a lot more useful than the old filtered pressure data.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/ao.h b/src/ao.h
index fd8c6034bd2cdb7384a5ce7bfd50d0832f6a4e60..63f806788cc1f7ad7a4ef6fc5c0d4fe4424da327 100644 (file)
--- a/src/ao.h
+++ b/src/ao.h
@@ -706,6 +706,13 @@ extern __pdata int16_t                     ao_ground_accel;
 extern __pdata int16_t                 ao_min_pres;
 extern __pdata uint16_t                        ao_launch_time;
 extern __xdata uint8_t                 ao_flight_force_idle;
+#ifdef USE_KALMAN
+extern __pdata int16_t                 ao_ground_height;
+extern __pdata int32_t                 ao_k_max_height;
+extern __pdata int32_t                 ao_k_height;
+extern __pdata int32_t                 ao_k_speed;
+extern __pdata int32_t                 ao_k_accel;
+#endif
 
 /* Flight thread */
 void

diff --git a/src/ao_log_tiny.c b/src/ao_log_tiny.c
index 157073d49bdab99288a1e144cf3af6705945eb36..fad2a2420457aa2ae2c0b86ef58b559f205443e3 100644 (file)
--- a/src/ao_log_tiny.c
+++ b/src/ao_log_tiny.c
@@ -69,7 +69,7 @@ ao_log(void)
                        if (ao_log_tiny_state == ao_flight_landed)
                                ao_log_stop();
                }
-               ao_log_tiny_data(ao_flight_pres);       // XXX change to alt
+               ao_log_tiny_data(ao_k_height >> 16);
                time += ao_log_tiny_interval;
                delay = time - ao_time();
                if (delay > 0)