diff options
| author | Keith Packard <keithp@keithp.com> | 2018-07-02 14:21:48 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2018-07-02 14:25:10 -0700 |
| commit | e56e1dc20b3bf18073766da4e26e97d9e1d419fc (patch) | |
| tree | 8f0ba66307c16def0bdc406e192daebed93551a8 | |
| parent | c263fde769da380d55d223cebe3c9b6e8f19cb29 (diff) | |
altos/test: Compute and show height error tracker in ao_flight_test
Enable the computation of ao_error_h_sq_avg in ao_flight_test even
when an accelerometer is present to allow review of that data.
Signed-off-by: Keith Packard <keithp@keithp.com>
| -rw-r--r-- | src/kernel/ao_kalman.c | 10 | ||||
| -rw-r--r-- | src/test/ao_flight_test.c | 6 |
2 files changed, 8 insertions, 8 deletions
diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c index ac41085d..e4cc6d4b 100644 --- a/src/kernel/ao_kalman.c +++ b/src/kernel/ao_kalman.c @@ -45,7 +45,11 @@ static __pdata ao_k_t ao_avg_height_scaled; __xdata ao_v_t ao_avg_height; __pdata ao_v_t ao_error_h; -#if !HAS_ACCEL +#if !HAS_ACCEL || AO_FLIGHT_TEST +#define AO_ERROR_H_SQ_AVG 1 +#endif + +#if AO_ERROR_H_SQ_AVG __pdata ao_v_t ao_error_h_sq_avg; #endif @@ -85,7 +89,7 @@ ao_kalman_predict(void) static void ao_kalman_err_height(void) { -#if !HAS_ACCEL +#if AO_ERROR_H_SQ_AVG ao_v_t e; #endif ao_v_t height_distrust; @@ -95,7 +99,7 @@ ao_kalman_err_height(void) ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16); -#if !HAS_ACCEL +#if AO_ERROR_H_SQ_AVG e = ao_error_h; if (e < 0) e = -e; diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index 8fe3b5df..746a6814 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -305,7 +305,7 @@ struct ao_task { #define AO_MS_TO_TICKS(ms) ((ms) / 10) #define AO_SEC_TO_TICKS(s) ((s) * 100) -#define AO_FLIGHT_TEST +#define AO_FLIGHT_TEST 1 int ao_flight_debug; @@ -438,10 +438,6 @@ static uint16_t pyros_fired; static struct ao_mpu6000_sample ao_ground_mpu6000; #endif -#if HAS_ACCEL -int ao_error_h_sq_avg; -#endif - void ao_test_exit(void) { |