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_sample.h | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) (limited to 'src/core/ao_sample.h') diff --git a/src/core/ao_sample.h b/src/core/ao_sample.h index 5bd29536..1d1bcc7c 100644 --- a/src/core/ao_sample.h +++ b/src/core/ao_sample.h @@ -64,8 +64,6 @@ * for all further flight computations */ -#define GRAVITY 9.80665 - /* * Above this height, the baro sensor doesn't work */ @@ -118,6 +116,7 @@ extern __pdata accel_t ao_ground_accel_through; extern __pdata gyro_t ao_ground_pitch; extern __pdata gyro_t ao_ground_yaw; extern __pdata gyro_t ao_ground_roll; +extern __pdata angle_t ao_orient; #endif void ao_sample_init(void); -- cgit v1.2.3