diff options
| author | Keith Packard <keithp@keithp.com> | 2011-01-15 11:26:31 -0800 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2011-01-16 14:35:29 -0800 |
| commit | 118fe84c9ff1cc9d1653e67a2315e22e19d60a14 (patch) | |
| tree | d53c7b770776adecbf0235e9dde8906366e42961 | |
| parent | 8a775b8f9ecefa143050653d74dfd218b32b9bb5 (diff) | |
altos: average 512 accel/baro samples at startup instead of 1000
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>
| -rw-r--r-- | src/ao_flight.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/ao_flight.c b/src/ao_flight.c index 7fe85cb1..9f651ae2 100644 --- a/src/ao_flight.c +++ b/src/ao_flight.c @@ -196,17 +196,17 @@ ao_flight(void) /* 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); |