From c754759a2d503633d527da4ebb20eb859cd506fd Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 28 Mar 2011 17:54:44 -0700 Subject: altos: Split up flight code into separate flight/sample/kalman bits The flight code mashed together data processing, filtering and actual flight managament into one giant pile. Split things up so that we have: ao_sample.c: Sensor data processing. Reads the ring, handles calibration ao_kalman.c: Filter the data to track the accel/speed/height values ao_flight.c: Flight state management, specific to rocketry. The plan is to re-use ao_sample.c and ao_kalman.c for hardware not specifically designed for rocketry, like TeleNano. Signed-off-by: Keith Packard --- src/ao_config.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'src/ao_config.c') diff --git a/src/ao_config.c b/src/ao_config.c index 771b21a1..319febb9 100644 --- a/src/ao_config.c +++ b/src/ao_config.c @@ -215,10 +215,10 @@ ao_config_accel_calibrate_auto(char *orientation) __reentrant puts("Calibrating..."); flush(); i = ACCEL_CALIBRATE_SAMPLES; accel_total = 0; - cal_adc_ring = ao_flight_adc; + cal_adc_ring = ao_sample_adc; while (i) { - ao_sleep(DATA_TO_XDATA(&ao_flight_adc)); - while (i && cal_adc_ring != ao_flight_adc) { + ao_sleep(DATA_TO_XDATA(&ao_sample_adc)); + while (i && cal_adc_ring != ao_sample_adc) { accel_total += (int32_t) ao_adc_ring[cal_adc_ring].accel; cal_adc_ring = ao_adc_ring_next(cal_adc_ring); i--; -- cgit v1.2.3