From: Keith Packard <keithp@keithp.com>
Date: Sat, 19 Mar 2011 04:01:15 +0000 (-0700)
Subject: altos: Write height values to log for nano/mini
X-Git-Tag: 0.9.3~129
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=7a4f6d5ad55637cde97a1e2f247f92df59bc2e14

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 fd8c6034..63f80678 100644
--- 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 157073d4..fad2a242 100644
--- 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)