From 2e5d0355da2376f27dcbe0cc6d04b737145ac853 Mon Sep 17 00:00:00 2001 From: cnlohr Date: Thu, 16 Feb 2017 15:47:46 -0500 Subject: update with more integration stuff. --- src/survive_process.c | 20 ++++++++++++++++++-- 1 file changed, 18 insertions(+), 2 deletions(-) (limited to 'src/survive_process.c') diff --git a/src/survive_process.c b/src/survive_process.c index 184532b..cb53588 100644 --- a/src/survive_process.c +++ b/src/survive_process.c @@ -8,13 +8,29 @@ void survive_default_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ) { + struct SurviveContext * ctx = so->ctx; + int base_station = acode >> 2; + int axis = acode & 1; - if( so->ctx->calptr ) + if( ctx->calptr ) { survive_cal_light( so, sensor_id, acode, timeinsweep, timecode, length ); } - //TODO: Writeme! + if( base_station > NUM_LIGHTHOUSES ) return; + + //No loner need sync information past this point. + if( sensor_id < 0 ) return; + + float angle = (timeinsweep - 200000) * (1./200000. * 3.14159265359/2.0); + + //Need to now do angle correction. +#if 1 + struct BaseStationData * bsd = &ctx->bsd[base_station]; + + //TODO!!! +#endif + } void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id ) -- cgit v1.2.3