From 08143a922fe27bc50a19924f46538f9476ab5fd1 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 25 Oct 2013 04:05:09 -0700 Subject: 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 --- src/core/ao_data.h | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) (limited to 'src/core/ao_data.h') diff --git a/src/core/ao_data.h b/src/core/ao_data.h index 339afe69..5a232885 100644 --- a/src/core/ao_data.h +++ b/src/core/ao_data.h @@ -18,6 +18,8 @@ #ifndef _AO_DATA_H_ #define _AO_DATA_H_ +#define GRAVITY 9.80665 + #if HAS_ADC #define AO_DATA_ADC (1 << 0) #else @@ -300,8 +302,8 @@ typedef int16_t accel_t; #define HAS_GYRO 1 -typedef int16_t gyro_t; -typedef int32_t angle_t; +typedef int16_t gyro_t; /* in raw sample units */ +typedef int16_t angle_t; /* in degrees */ /* Y axis is aligned with the direction of motion (along) */ /* X axis is aligned in the other board axis (across) */ -- cgit v1.2.3