diff options
| author | Keith Packard <keithp@keithp.com> | 2014-07-10 17:18:38 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2014-07-10 17:35:44 -0700 |
| commit | 013e9ccfbe76dc46e8c69ea314950bed83d9a39f (patch) | |
| tree | 5cc6ca1679f23e89074bd65457f74d8ce31aaf13 /src/test | |
| parent | 31ae24b5da3e198e7555ea3768d3cbdec3a28a5f (diff) | |
altos: Use 32-bits for flight state data (alt/speed/accel)
Stores 32-bits for all of the flight parameters. Uses 64-bit
intermediates for kalman computation.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/test')
| -rw-r--r-- | src/test/ao_flight_test.c | 5 | ||||
| -rw-r--r-- | src/test/ao_micropeak_test.c | 1 |
2 files changed, 5 insertions, 1 deletions
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index 314998c1..bb5c3a7d 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -34,9 +34,11 @@ #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1)) #define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1)) +#if 0 #define AO_M_TO_HEIGHT(m) ((int16_t) (m)) #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16)) +#endif #define AO_GPS_NEW_DATA 1 #define AO_GPS_NEW_TRACKING 2 @@ -93,6 +95,7 @@ struct ao_adc { #include <ao_data.h> #include <ao_log.h> #include <ao_telemetry.h> +#include <ao_sample.h> #if TELEMEGA int ao_gps_count; @@ -234,7 +237,7 @@ double main_time; int tick_offset; -static int32_t ao_k_height; +static ao_k_t ao_k_height; int16_t ao_time(void) diff --git a/src/test/ao_micropeak_test.c b/src/test/ao_micropeak_test.c index 5961bd93..f4af707e 100644 --- a/src/test/ao_micropeak_test.c +++ b/src/test/ao_micropeak_test.c @@ -33,6 +33,7 @@ uint8_t ao_flight_debug; #define AO_FLIGHT_TEST typedef int32_t alt_t; +typedef int32_t pres_t; #define AO_MS_TO_TICKS(ms) ((ms) / 10) |