#define DBG(...)
#endif
+static angle_t
+ao_sample_max_orient(void)
+{
+ uint8_t i;
+ angle_t max = ao_sample_orients[0];
+
+ for (i = 1; i < AO_NUM_ORIENT; i++) {
+ angle_t a = ao_sample_orients[i];
+ if (a > max)
+ max = a;
+ }
+ return max;
+}
/*
* Given a pyro structure, figure out
* if the current flight state satisfies all
ao_pyro_ready(struct ao_pyro *pyro)
{
enum ao_pyro_flag flag, flags;
+#if HAS_GYRO
+ angle_t max_orient;
+#endif
flags = pyro->flags;
while (flags != ao_pyro_none) {
#if HAS_GYRO
case ao_pyro_orient_less:
- if (ao_sample_orient <= pyro->orient_less)
+ max_orient = ao_sample_max_orient();
+ if (max_orient <= pyro->orient_less)
continue;
- DBG("orient %d > %d\n", ao_sample_orient, pyro->orient_less);
+ DBG("orient %d > %d\n", max_orient, pyro->orient_less);
break;
case ao_pyro_orient_greater:
- if (ao_sample_orient >= pyro->orient_greater)
+ max_orient = ao_sample_max_orient();
+ if (max_orient >= pyro->orient_greater)
continue;
- DBG("orient %d < %d\n", ao_sample_orient, pyro->orient_greater);
+ DBG("orient %d < %d\n", max_orient, pyro->orient_greater);
break;
#endif
__pdata gyro_t ao_sample_pitch;
__pdata gyro_t ao_sample_yaw;
__pdata angle_t ao_sample_orient;
+__pdata angle_t ao_sample_orients[AO_NUM_ORIENT];
+__pdata uint8_t ao_sample_orient_pos;
#endif
__data uint8_t ao_sample_data;
++nsamples;
}
+#if HAS_GYRO
+static void
+ao_sample_set_all_orients(void)
+{
+ int i;
+ for (i = 0; i < AO_NUM_ORIENT; i++)
+ ao_sample_orients[i] = ao_sample_orient;
+ ao_sample_orient_pos = 0;
+}
+
+static void
+ao_sample_set_one_orient(void)
+{
+ ao_sample_orients[ao_sample_orient_pos] = ao_sample_orient;
+ ao_sample_orient_pos = (ao_sample_orient_pos + 1) % AO_NUM_ORIENT;
+}
+
+static void
+ao_sample_compute_orient(void)
+{
+ /* Compute pitch angle from vertical by taking the pad
+ * orientation vector and rotating it by the current total
+ * rotation value. That will be a unit vector pointing along
+ * the airframe axis. The Z value will be the cosine of the
+ * change in the angle from vertical since boost.
+ *
+ * rot = ao_rotation * vertical * ao_rotation°
+ * rot = ao_rotation * (0,0,0,1) * ao_rotation°
+ * = ((a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z
+ *
+ * = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r)
+ * = a.z² - a.y² - a.x² + a.r²
+ *
+ * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation°
+ * = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z
+ *
+ * = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r)
+ * = -a.z² + a.y² + a.x² - a.r²
+ */
+
+ float rotz;
+ rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
+
+ ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
+}
+#endif /* HAS_GYRO */
+
static void
ao_sample_preflight_set(void)
{
ao_sample_pitch_sum = 0;
ao_sample_yaw_sum = 0;
ao_sample_roll_sum = 0;
- ao_sample_orient = 0;
+ ao_sample_set_all_orients();
struct ao_quaternion orient;
if (ao_orient_test)
printf("\n\treset\n");
#endif
+
+ ao_sample_compute_orient();
+ ao_sample_set_all_orients();
#endif
nsamples = 0;
}
/* And normalize to make sure it remains a unit vector */
ao_quaternion_normalize(&ao_rotation, &ao_rotation);
- /* Compute pitch angle from vertical by taking the pad
- * orientation vector and rotating it by the current total
- * rotation value. That will be a unit vector pointing along
- * the airframe axis. The Z value will be the cosine of the
- * change in the angle from vertical since boost.
- *
- * rot = ao_rotation * vertical * ao_rotation°
- * rot = ao_rotation * (0,0,0,1) * ao_rotation°
- * = ((a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z
- *
- * = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r)
- * = a.z² - a.y² - a.x² + a.r²
- *
- * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation°
- * = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z
- *
- * = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r)
- * = -a.z² + a.y² + a.x² - a.r²
- */
-
- float rotz;
- rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
-
- ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
-
#if HAS_FLIGHT_DEBUG
if (ao_orient_test) {
printf ("rot %d %d %d orient %d \r",
ao_sample_orient);
}
#endif
-
+ ao_sample_compute_orient();
+ ao_sample_set_one_orient();
}
#endif
ao_sample_yaw = 0;
ao_sample_roll = 0;
ao_sample_orient = 0;
+ ao_sample_set_all_orients();
#endif
ao_sample_data = ao_data_head;
ao_preflight = TRUE;