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_sample.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_sample.h')
| -rw-r--r-- | src/core/ao_sample.h | 3 |
1 files changed, 1 insertions, 2 deletions
diff --git a/src/core/ao_sample.h b/src/core/ao_sample.h index 5bd29536..1d1bcc7c 100644 --- a/src/core/ao_sample.h +++ b/src/core/ao_sample.h @@ -64,8 +64,6 @@ * for all further flight computations */ -#define GRAVITY 9.80665 - /* * Above this height, the baro sensor doesn't work */ @@ -118,6 +116,7 @@ extern __pdata accel_t ao_ground_accel_through; extern __pdata gyro_t ao_ground_pitch; extern __pdata gyro_t ao_ground_yaw; extern __pdata gyro_t ao_ground_roll; +extern __pdata angle_t ao_orient; #endif void ao_sample_init(void); |