altos: Update quaternion tests to check vectors_to_rotation

[fw/altos] / src / test / ao_flight_test.c

diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index e2f63e3498278614e36edec310b33ea720f6afbd..952a811af2f27e24facc8f5776e40fde0900dfdc 100644 (file)
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -128,6 +128,7 @@ int ao_summary = 0;
 #define ao_rdf_set(rdf)
 #define ao_packet_slave_start()
 #define ao_packet_slave_stop()
+#define flush()
 
 enum ao_igniter {
        ao_igniter_drogue = 0,
@@ -234,6 +235,9 @@ struct ao_config {
        uint16_t        apogee_lockout;
 #if TELEMEGA
        struct ao_pyro  pyro[AO_PYRO_NUM];      /* minor version 12 */
+       int16_t         accel_zero_along;
+       int16_t         accel_zero_across;
+       int16_t         accel_zero_through;
 #endif
 };
 
@@ -408,7 +412,7 @@ ao_insert(void)
                               height,
                               accel,
 #if TELEMEGA
-                              ao_orient,
+                              ao_sample_orient,
 /*
                               ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
                               ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
@@ -719,6 +723,13 @@ ao_sleep(void *wchan)
                        } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
                                ao_config.accel_plus_g = atoi(words[3]);
                                ao_config.accel_minus_g = atoi(words[5]);
+#ifdef TELEMEGA
+                       } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
+                               ao_config.accel_zero_along = atoi(words[3]);
+                               ao_config.accel_zero_across = atoi(words[5]);
+                               ao_config.accel_zero_through = atoi(words[7]);
+                               printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through);
+#endif
                        } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
                                ao_config.main_deploy = atoi(words[2]);
                        } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&