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_tiny.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_tiny.c')
| -rw-r--r-- | src/ao_telemetry_tiny.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/ao_telemetry_tiny.c b/src/ao_telemetry_tiny.c index 83ba7fc0..6f2ddda1 100644 --- a/src/ao_telemetry_tiny.c +++ b/src/ao_telemetry_tiny.c @@ -43,9 +43,9 @@ ao_telemetry_tiny(void) time = ao_rdf_time = ao_time(); while (ao_telemetry_tiny_interval) { telemetry_tiny.flight_state = ao_flight_state; - telemetry_tiny.height = ao_k_height >> 16; - telemetry_tiny.speed = ao_k_speed >> 12; - telemetry_tiny.accel = ao_k_accel >> 12; + telemetry_tiny.height = ao_height; + telemetry_tiny.speed = ao_speed; + telemetry_tiny.accel = ao_accel; telemetry_tiny.ground_pres = ao_ground_pres; ao_adc_get(&telemetry_tiny.adc); ao_radio_send(&telemetry_tiny, sizeof (telemetry_tiny)); |