diff options
| author | Keith Packard <keithp@keithp.com> | 2013-10-25 04:05:09 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2013-10-25 04:05:09 -0700 |
| commit | 08143a922fe27bc50a19924f46538f9476ab5fd1 (patch) | |
| tree | cdd2be15a286183eade9d6b665d5bc5a99d5abff /src/core/ao_data.h | |
| parent | ba99630f33440b993c69830856d2a7741ffdef71 (diff) | |
altos: Add gyro-based orientation tracking
This tracks the angle-from-vertical as an additional input to the pyro
channels.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/core/ao_data.h')
| -rw-r--r-- | src/core/ao_data.h | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/src/core/ao_data.h b/src/core/ao_data.h index 339afe69..5a232885 100644 --- a/src/core/ao_data.h +++ b/src/core/ao_data.h @@ -18,6 +18,8 @@ #ifndef _AO_DATA_H_ #define _AO_DATA_H_ +#define GRAVITY 9.80665 + #if HAS_ADC #define AO_DATA_ADC (1 << 0) #else @@ -300,8 +302,8 @@ typedef int16_t accel_t; #define HAS_GYRO 1 -typedef int16_t gyro_t; -typedef int32_t angle_t; +typedef int16_t gyro_t; /* in raw sample units */ +typedef int16_t angle_t; /* in degrees */ /* Y axis is aligned with the direction of motion (along) */ /* X axis is aligned in the other board axis (across) */ |