diff options
| author | Keith Packard <keithp@keithp.com> | 2011-03-22 05:42:51 +0900 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2011-03-22 05:42:51 +0900 |
| commit | 7b009b2efe3af8722c358c304c2243652594e0d5 (patch) | |
| tree | 94e196faeaa24504b534d7ab0363a28489216b21 /src/ao_telemetry.c | |
| parent | 20427ae4965f756aac0cedc5179a1c45b9a781f2 (diff) | |
altos: Switch telemetrum over to kalman filter
This changes the full telemetry stream to include kalman data instead
of the old ad-hoc flight data. It's compatible in that the packet
sizes are the same so teledongle can receive either and figure out
which it has received.
A few plotting and testing tools are added to make validating the new
code easier.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/ao_telemetry.c')
| -rw-r--r-- | src/ao_telemetry.c | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c index 6556ce32..9a86882f 100644 --- a/src/ao_telemetry.c +++ b/src/ao_telemetry.c @@ -45,12 +45,13 @@ ao_telemetry(void) time = ao_rdf_time = ao_time(); while (ao_telemetry_interval) { telemetry.flight_state = ao_flight_state; + telemetry.height = ao_height; + telemetry.u.k.speed = ao_speed; + telemetry.accel = ao_accel; + telemetry.u.k.unused = 0x8000; #if HAS_ACCEL - telemetry.flight_accel = ao_flight_accel; telemetry.ground_accel = ao_ground_accel; - telemetry.flight_vel = ao_flight_vel; #endif - telemetry.flight_pres = ao_flight_pres; telemetry.ground_pres = ao_ground_pres; #if HAS_ADC ao_adc_get(&telemetry.adc); |