altos: Set HAS_FLIGHT_DEBUG=1 to include the flight debugging commands

This leaves USB enabled, and adds the 'F' command to dump
internal flight state.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 39084fd0fa2cad5d2078a45a0ac1231cfd05108f..c678645561a88569ae0943455e7240234891c4bd 100644 (file)
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -114,7 +114,7 @@ ao_flight(void)
                        {
                                /* Set pad mode - we can fly! */
                                ao_flight_state = ao_flight_pad;
-#if HAS_USB && HAS_RADIO
+#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG
                                /* Disable the USB controller in flight mode
                                 * to save power
                                 */
@@ -358,7 +358,7 @@ ao_flight(void)
        }
 }
 
-#if !HAS_RADIO
+#if HAS_FLIGHT_DEBUG
 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; }
 
@@ -378,6 +378,7 @@ ao_flight_dump(void)
        printf ("  raw accel   %d\n", ao_sample_accel);
 #endif
        printf ("  ground pres %d\n", ao_ground_pres);
+       printf ("  ground alt  %d\n", ao_ground_height);
 #if HAS_ACCEL
        printf ("  raw accel   %d\n", ao_sample_accel);
        printf ("  groundaccel %d\n", ao_ground_accel);
@@ -413,7 +414,7 @@ void
 ao_flight_init(void)
 {
        ao_flight_state = ao_flight_startup;
-#if !HAS_RADIO
+#if HAS_FLIGHT_DEBUG
        ao_cmd_register(&ao_flight_cmds[0]);
 #endif
        ao_add_task(&flight_task, ao_flight, "flight");