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-rw-r--r--src/core/ao.h7
-rw-r--r--src/core/ao_config.c61
-rw-r--r--src/core/ao_sample.c15
-rw-r--r--src/test/ao_flight_test.c10
4 files changed, 83 insertions, 10 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
diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index b480e14c..82faf32b 100644
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -156,6 +156,19 @@ _ao_config_get(void)
if (minor < 14)
ao_config.radio_amp = AO_CONFIG_DEFAULT_RADIO_AMP;
#endif
+#if HAS_GYRO
+ if (minor < 15) {
+ ao_config.accel_zero_along = 0;
+ ao_config.accel_zero_across = 0;
+ ao_config.accel_zero_through = 0;
+
+ /* Reset the main accel offsets to force
+ * re-calibration
+ */
+ ao_config.accel_plus_g = 0;
+ ao_config.accel_minus_g = 0;
+ }
+#endif
ao_config.minor = AO_CONFIG_MINOR;
ao_config_dirty = 1;
}
@@ -275,17 +288,34 @@ ao_config_accel_calibrate_show(void) __reentrant
{
printf("Accel cal +1g: %d -1g: %d\n",
ao_config.accel_plus_g, ao_config.accel_minus_g);
+#if HAS_GYRO
+ printf ("IMU cal along %d across %d through %d\n",
+ ao_config.accel_zero_along,
+ ao_config.accel_zero_across,
+ ao_config.accel_zero_through);
+#endif
}
#define ACCEL_CALIBRATE_SAMPLES 1024
#define ACCEL_CALIBRATE_SHIFT 10
+#if HAS_GYRO
+static int16_t accel_cal_along;
+static int16_t accel_cal_across;
+static int16_t accel_cal_through;
+#endif
+
static int16_t
ao_config_accel_calibrate_auto(char *orientation) __reentrant
{
uint16_t i;
int32_t accel_total;
uint8_t cal_data_ring;
+#if HAS_GYRO
+ int32_t accel_along_total = 0;
+ int32_t accel_across_total = 0;
+ int32_t accel_through_total = 0;
+#endif
printf("Orient antenna %s and press a key...", orientation);
flush();
@@ -299,10 +329,20 @@ ao_config_accel_calibrate_auto(char *orientation) __reentrant
ao_sleep(DATA_TO_XDATA(&ao_sample_data));
while (i && cal_data_ring != ao_sample_data) {
accel_total += (int32_t) ao_data_accel(&ao_data_ring[cal_data_ring]);
+#if HAS_GYRO
+ accel_along_total += (int32_t) ao_data_along(&ao_data_ring[cal_data_ring]);
+ accel_across_total += (int32_t) ao_data_across(&ao_data_ring[cal_data_ring]);
+ accel_through_total += (int32_t) ao_data_through(&ao_data_ring[cal_data_ring]);
+#endif
cal_data_ring = ao_data_ring_next(cal_data_ring);
i--;
}
}
+#if HAS_GYRO
+ accel_cal_along = accel_along_total >> ACCEL_CALIBRATE_SHIFT;
+ accel_cal_across = accel_across_total >> ACCEL_CALIBRATE_SHIFT;
+ accel_cal_through = accel_through_total >> ACCEL_CALIBRATE_SHIFT;
+#endif
return accel_total >> ACCEL_CALIBRATE_SHIFT;
}
@@ -310,12 +350,28 @@ void
ao_config_accel_calibrate_set(void) __reentrant
{
int16_t up, down;
+#if HAS_GYRO
+ int16_t accel_along_up, accel_along_down;
+ int16_t accel_across_up, accel_across_down;
+ int16_t accel_through_up, accel_through_down;
+#endif
+
ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
if (ao_cmd_lex_i == 0) {
up = ao_config_accel_calibrate_auto("up");
+#if HAS_GYRO
+ accel_along_up = accel_cal_along;
+ accel_across_up = accel_cal_across;
+ accel_through_up = accel_cal_through;
+#endif
down = ao_config_accel_calibrate_auto("down");
+#if HAS_GYRO
+ accel_along_down = accel_cal_along;
+ accel_across_down = accel_cal_across;
+ accel_through_down = accel_cal_through;
+#endif
} else {
up = ao_cmd_lex_i;
ao_cmd_decimal();
@@ -331,6 +387,11 @@ ao_config_accel_calibrate_set(void) __reentrant
_ao_config_edit_start();
ao_config.accel_plus_g = up;
ao_config.accel_minus_g = down;
+#if HAS_GYRO
+ ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2;
+ ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2;
+ ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2;
+#endif
_ao_config_edit_finish();
}
#endif /* HAS_ACCEL */
diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c
index 676e0ffd..a9d50cb2 100644
--- a/src/core/ao_sample.c
+++ b/src/core/ao_sample.c
@@ -139,19 +139,16 @@ ao_sample_preflight_set(void)
/* No rotation yet */
ao_quaternion_init_zero_rotation(&ao_rotation);
- /* XXX Assume we're pointing straight up for now */
+ /* Take the pad IMU acceleration values and compute our current direction
+ */
ao_quaternion_init_vector(&ao_pad_orientation,
- ao_ground_accel_across,
- ao_ground_accel_through,
- -ao_ground_accel_along);
+ ao_ground_accel_across - ao_config.accel_zero_across,
+ ao_ground_accel_through - ao_config.accel_zero_through,
+ -ao_ground_accel_along - ao_config.accel_zero_along);
+
ao_quaternion_normalize(&ao_pad_orientation,
&ao_pad_orientation);
- printf ("pad r%8.5f x%8.5f y%8.5f z%8.5f\n",
- ao_pad_orientation.r,
- ao_pad_orientation.x,
- ao_pad_orientation.y,
- ao_pad_orientation.z);
#endif
nsamples = 0;
}
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index e2f63e34..7f18c80e 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -234,6 +234,9 @@ struct ao_config {
uint16_t apogee_lockout;
#if TELEMEGA
struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */
+ int16_t accel_zero_along;
+ int16_t accel_zero_across;
+ int16_t accel_zero_through;
#endif
};
@@ -719,6 +722,13 @@ ao_sleep(void *wchan)
} else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
ao_config.accel_plus_g = atoi(words[3]);
ao_config.accel_minus_g = atoi(words[5]);
+#ifdef TELEMEGA
+ } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
+ ao_config.accel_zero_along = atoi(words[3]);
+ ao_config.accel_zero_across = atoi(words[5]);
+ ao_config.accel_zero_through = atoi(words[7]);
+ printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through);
+#endif
} else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
ao_config.main_deploy = atoi(words[2]);
} else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-31 22:23:46 +0000