altos: Enable pyro channel control in telepyro

[fw/altos] / src / drivers / ao_companion.c

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 85d68c44151c4de4029af86318ad9914d10b906a..6e0bd2ec15691a95f89bfbfeb59b08c517657def 100644 (file)
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -53,6 +53,10 @@ ao_companion_send_command(uint8_t command)
        ao_companion_command.tick = ao_time();
        ao_companion_command.serial = ao_serial_number;
        ao_companion_command.flight = ao_flight_number;
+       ao_companion_command.accel = ao_accel;
+       ao_companion_command.speed = ao_speed;
+       ao_companion_command.height = ao_height;
+       ao_companion_command.motor_number = ao_motor_number;
        ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
 }
 
@@ -131,7 +135,7 @@ static __xdata struct ao_task ao_companion_task;
 void
 ao_companion_init(void)
 {
-       ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, 1);
+       ao_enable_output(AO_COMPANION_CS_PORT, AO_COMPANION_CS_PIN, AO_COMPANION_CS, 1);
        ao_cmd_register(&ao_companion_cmds[0]);
        ao_add_task(&ao_companion_task, ao_companion, "companion");
 }