X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_flight_mm.c;h=28b9869f8bb7e19033e579e08c754e900e2a4763;hb=629f43e7c7abbff33e14b168a08a4b6a9c88b937;hp=27087e55e4684d8ade467d22b07b7da895a86e55;hpb=dd73c9b441f7672fb9982c4caeb5178df30f5d2b;p=fw%2Faltos

diff --git a/src/core/ao_flight_mm.c b/src/core/ao_flight_mm.c
index 27087e55..28b9869f 100644
--- a/src/core/ao_flight_mm.c
+++ b/src/core/ao_flight_mm.c
@@ -32,6 +32,10 @@
 #error Please define HAS_USB
 #endif
 
+#ifndef HAS_TELEMETRY
+#define HAS_TELEMETRY	HAS_RADIO
+#endif
+
 /* Main flight thread. */
 
 __pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
@@ -83,7 +87,7 @@ ao_flight(void)
 			 *  - pad mode if we're upright,
 			 *  - idle mode otherwise
 			 */
-#if HAS_ACCEL
+#if HAS_ACCEL && 0
 			if (ao_config.accel_plus_g == 0 ||
 			    ao_config.accel_minus_g == 0 ||
 			    ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
@@ -94,21 +98,21 @@ ao_flight(void)
 				 */
 				ao_flight_state = ao_flight_invalid;
 
-#if HAS_RADIO
+#if HAS_RADIO && PACKET_HAS_SLAVE
 				/* Turn on packet system in invalid mode on TeleMetrum */
 				ao_packet_slave_start();
 #endif
 			} else
 #endif
 				if (!ao_flight_force_idle
-#if HAS_ACCEL
+#if HAS_ACCEL && 0
 				    && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
 #endif
 					)
  			{
 				/* Set pad mode - we can fly! */
 				ao_flight_state = ao_flight_pad;
-#if HAS_USB
+#if HAS_USB && HAS_RADIO && 0
 				/* Disable the USB controller in flight mode
 				 * to save power
 				 */
@@ -120,7 +124,7 @@ ao_flight(void)
 				ao_packet_slave_stop();
 #endif
 
-#if HAS_RADIO
+#if HAS_TELEMETRY
 				/* Turn on telemetry system */
 				ao_rdf_set(1);
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
@@ -131,7 +135,7 @@ ao_flight(void)
 				/* Set idle mode */
  				ao_flight_state = ao_flight_idle;
  
-#if HAS_ACCEL && HAS_RADIO
+#if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
 				/* Turn on packet system in idle mode on TeleMetrum */
 				ao_packet_slave_start();
 #endif
@@ -171,7 +175,7 @@ ao_flight(void)
 				/* start logging data */
 				ao_log_start();
 
-#if HAS_RADIO
+#if HAS_TELEMETRY
 				/* Increase telemetry rate */
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
 
@@ -259,7 +263,7 @@ ao_flight(void)
 				ao_ignite(ao_igniter_drogue);
 #endif
 
-#if HAS_RADIO
+#if HAS_TELEMETRY
 				/* slow down the telemetry system */
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 
@@ -352,11 +356,63 @@ ao_flight(void)
 	}
 }
 
+#if !HAS_RADIO
+static inline int int_part(int16_t i)	{ return i >> 4; }
+static inline int frac_part(int16_t i)	{ return ((i & 0xf) * 100 + 8) / 16; }
+
+static void
+ao_flight_dump(void)
+{
+#if HAS_ACCEL
+	int16_t	accel;
+
+	accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16;
+#endif
+
+	printf ("sample:\n");
+	printf ("  tick        %d\n", ao_sample_tick);
+	printf ("  raw pres    %d\n", ao_sample_pres);
+#if HAS_ACCEL
+	printf ("  raw accel   %d\n", ao_sample_accel);
+#endif
+	printf ("  ground pres %d\n", ao_ground_pres);
+#if HAS_ACCEL
+	printf ("  raw accel   %d\n", ao_sample_accel);
+	printf ("  groundaccel %d\n", ao_ground_accel);
+	printf ("  accel_2g    %d\n", ao_accel_2g);
+#endif
+
+	printf ("  alt         %d\n", ao_sample_alt);
+	printf ("  height      %d\n", ao_sample_height);
+#if HAS_ACCEL
+	printf ("  accel       %d.%02d\n", int_part(accel), frac_part(accel));
+#endif
+
+
+	printf ("kalman:\n");
+	printf ("  height      %d\n", ao_height);
+	printf ("  speed       %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
+	printf ("  accel       %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
+	printf ("  max_height  %d\n", ao_max_height);
+	printf ("  avg_height  %d\n", ao_avg_height);
+	printf ("  error_h     %d\n", ao_error_h);
+	printf ("  error_avg   %d\n", ao_error_h_sq_avg);
+}
+
+__code struct ao_cmds ao_flight_cmds[] = {
+	{ ao_flight_dump, 	"F\0Dump flight status" },
+	{ 0, NULL },
+};
+#endif
+
 static __xdata struct ao_task	flight_task;
 
 void
 ao_flight_init(void)
 {
 	ao_flight_state = ao_flight_startup;
+#if !HAS_RADIO
+	ao_cmd_register(&ao_flight_cmds[0]);
+#endif
 	ao_add_task(&flight_task, ao_flight, "flight");
 }