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authorKeith Packard <keithp@keithp.com>2013-10-25 04:34:16 -0700
committerKeith Packard <keithp@keithp.com>2013-10-25 04:34:16 -0700
commit351d53836e201834a2d89773a08ab7c2dab2b2f4 (patch)
tree599b180bc18e690496091dd335d8fa7731400b86 /src/core/ao.h
parent08143a922fe27bc50a19924f46538f9476ab5fd1 (diff)
altos: Calibrate IMU accelerometers too
Average the IMU accelerometer values pointing up and down so that we have a zero-g offset for all three axes. This can then be used to compute which direction the rocket is pointing while sitting on the pad. Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/core/ao.h')
-rw-r--r--src/core/ao.h7
1 files changed, 6 insertions, 1 deletions
diff --git a/src/core/ao.h b/src/core/ao.h
index ea37885e..d12f13a0 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -739,7 +739,7 @@ extern __xdata uint8_t ao_force_freq;
#endif
#define AO_CONFIG_MAJOR 1
-#define AO_CONFIG_MINOR 14
+#define AO_CONFIG_MINOR 15
#define AO_AES_LEN 16
@@ -773,6 +773,11 @@ struct ao_config {
#if HAS_RADIO_AMP
uint8_t radio_amp; /* minor version 14 */
#endif
+#if HAS_GYRO
+ uint16_t accel_zero_along; /* minor version 15 */
+ uint16_t accel_zero_across; /* minor version 15 */
+ uint16_t accel_zero_through; /* minor version 15 */
+#endif
};
#define AO_IGNITE_MODE_DUAL 0