altos: Enable debugging of accel-only speed management

[fw/altos] / src / kernel / ao_flight.c

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 4b6bfd8f7109be78233e25f13f2aa9317410bbbb..a81b9c652c1265ca8f25ed2f228734caa525246d 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -102,12 +102,9 @@ uint8_t                    ao_flight_force_idle;
 
 #define abs(a) ((a) < 0 ? -(a) : (a))
 
-static bool accel_plus_g_failed;
-static bool accel_minus_g_failed;
-static bool accel_plus_failed;
-static bool accel_minus_failed;
-
-static char *btos(bool x) { return x? "true" : "false"; }
+#if !HAS_BARO
+#define DEBUG_ACCEL_ONLY       1
+#endif
 
 void
 ao_flight(void)
@@ -142,14 +139,6 @@ ao_flight(void)
 #endif
                                )
                        {
-                               if (ao_config.accel_plus_g == 0)
-                                       accel_plus_g_failed = true;
-                               if (ao_config.accel_minus_g == 0)
-                                       accel_minus_g_failed = true;
-                               if (ao_ground_accel < (accel_t) ao_config.accel_plus_g - ACCEL_NOSE_UP)
-                                       accel_plus_failed = true;
-                               if (ao_ground_accel > (accel_t) ao_config.accel_minus_g + ACCEL_NOSE_UP)
-                                       accel_minus_failed = true;
                                /* Detected an accel value outside -1.5g to 1.5g
                                 * (or uncalibrated values), so we go into invalid mode
                                 */
@@ -216,21 +205,11 @@ ao_flight(void)
 
                        break;
 
+#if DEBUG_ACCEL_ONLY
                case ao_flight_invalid:
-                       printf("+g? %s -g? %s +? %s -? %s +g %d -g %d ga %d +g-NU %d -g+NU %d\n",
-                              btos(accel_plus_g_failed),
-                              btos(accel_minus_g_failed),
-                              btos(accel_plus_failed),
-                              btos(accel_minus_failed),
-                              ao_config.accel_plus_g,
-                              ao_config.accel_minus_g,
-                              ao_ground_accel,
-                              ao_config.accel_plus_g - ACCEL_NOSE_UP,
-                              ao_config.accel_minus_g + ACCEL_NOSE_UP);
-                       break;
-#if 0
                case ao_flight_idle:
-                       printf("+g %d ga %d sa %d accel %ld speed %ld\n", ao_config.accel_plus_g, ao_ground_accel, ao_sample_accel, ao_accel, ao_speed);
+                       printf("+g %d ga %d sa %d accel %ld speed %ld\n",
+                              ao_config.accel_plus_g, ao_ground_accel, ao_sample_accel, ao_accel, ao_speed);
                        break;
 #endif
 
@@ -251,10 +230,7 @@ ao_flight(void)
                        if (ao_height > AO_M_TO_HEIGHT(20)
 #if HAS_ACCEL
                            || (ao_accel > AO_MSS_TO_ACCEL(20)
-#if HAS_BARO
-                               && ao_speed > AO_MS_TO_SPEED(5)
-#endif
-)
+                               && ao_speed > AO_MS_TO_SPEED(5))
 #endif
                                )
                        {