diff options
Diffstat (limited to 'src/ao_flight_test.c')
| -rw-r--r-- | src/ao_flight_test.c | 43 |
1 files changed, 37 insertions, 6 deletions
diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c index 91aa0f73..f41acbca 100644 --- a/src/ao_flight_test.c +++ b/src/ao_flight_test.c @@ -53,6 +53,22 @@ struct ao_adc { #define __code #define __reentrant +#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) +#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) +#define from_fix(x) ((x) >> 16) + +/* + * Above this height, the baro sensor doesn't work + */ +#define AO_MAX_BARO_HEIGHT 12000 + +/* + * Above this speed, baro measurements are unreliable + */ +#define AO_MAX_BARO_SPEED 200 + +#define ACCEL_NOSE_UP (ao_accel_2g >> 2) + enum ao_flight_state { ao_flight_startup = 0, ao_flight_idle = 1, @@ -66,6 +82,11 @@ enum ao_flight_state { ao_flight_invalid = 9 }; +extern enum ao_flight_state ao_flight_state; + +#define FALSE 0 +#define TRUE 1 + struct ao_adc ao_adc_ring[AO_ADC_RING]; uint8_t ao_adc_head; int ao_summary = 0; @@ -171,15 +192,25 @@ struct ao_config ao_config; #define HAS_ACCEL_REF 0 #endif -#include "ao_flight.c" - -#define to_double(f) ((f) / 65536.0) - #define GRAVITY 9.80665 -extern int16_t ao_ground_accel, ao_raw_accel; +extern int16_t ao_ground_accel, ao_flight_accel; extern int16_t ao_accel_2g; +extern uint16_t ao_sample_tick; + +extern int16_t ao_sample_height; +extern int16_t ao_sample_accel; +extern int32_t ao_accel_scale; + +int ao_sample_prev_tick; uint16_t prev_tick; + +#include "ao_kalman.c" +#include "ao_sample.c" +#include "ao_flight.c" + +#define to_double(f) ((f) / 65536.0) + static int ao_records_read = 0; static int ao_eof_read = 0; static int ao_flight_ground_accel; @@ -224,7 +255,7 @@ ao_insert(void) ao_adc_ring[ao_adc_head] = ao_adc_static; ao_adc_head = ao_adc_ring_next(ao_adc_head); if (ao_flight_state != ao_flight_startup) { - double height = ao_pres_to_altitude(ao_raw_pres) - ao_ground_height; + double height = ao_pres_to_altitude(ao_sample_pres) - ao_ground_height; double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) / (ao_config.accel_minus_g - ao_config.accel_plus_g); |