diff options
| author | Keith Packard <keithp@keithp.com> | 2011-03-18 21:01:15 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2011-03-18 21:01:15 -0700 |
| commit | 7a4f6d5ad55637cde97a1e2f247f92df59bc2e14 (patch) | |
| tree | 4dea4a19be48d940a3f05997562a4d2add46c0cf | |
| parent | c985bb6a19c710409629f3c095332ba7afcf5248 (diff) | |
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>
| -rw-r--r-- | src/ao.h | 7 | ||||
| -rw-r--r-- | src/ao_log_tiny.c | 2 |
2 files changed, 8 insertions, 1 deletions
@@ -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) |