From: Keith Packard <keithp@keithp.com>
Date: Sat, 17 Oct 2020 03:48:55 +0000 (-0700)
Subject: altos: Reset 3d-accel and motor pressure sums each ground interval
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=577918f429050f61e2e7d220d68a4a2bd52ad56e

altos: Reset 3d-accel and motor pressure sums each ground interval

We're repeatedly averaging 512 ground samples to get up-to-date values
for all of the sensors, but we need to clear the sums after each
sample interval. The 3d accel values were only cleared if there was a
full IMU, not for devices with only an accelerometer like
EasyMotor. The motor pressure sum was never cleared.

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

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 874c9110..2c77c369 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -210,18 +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;
@@ -257,7 +257,7 @@ ao_sample_preflight_set(void)
 		       (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	
+#endif
 
 	ao_sample_compute_orient();
 	ao_sample_set_all_orients();