-#if 0
- /* Kalman state values */
- printf(AO_TELEM_KALMAN_HEIGHT " %d "
- AO_TELEM_KALMAN_SPEED " %d "
- AO_TELEM_KALMAN_ACCEL " %d ",
- recv.telemetry.height,
- recv.telemetry.speed,
- recv.telemetry.accel);
-#else
- /* Ad-hoc flight values */
- printf(AO_TELEM_ADHOC_ACCEL " %d "
- AO_TELEM_ADHOC_SPEED " %ld "
- AO_TELEM_ADHOC_BARO " %d ",
- recv.telemetry.flight_accel,
- recv.telemetry.flight_vel,
- recv.telemetry.flight_pres);
-#endif
+ if (recv.telemetry.u.k.unused == 0x8000) {
+ /* Kalman state values */
+ printf(AO_TELEM_KALMAN_HEIGHT " %d "
+ AO_TELEM_KALMAN_SPEED " %d "
+ AO_TELEM_KALMAN_ACCEL " %d ",
+ recv.telemetry.height,
+ recv.telemetry.u.k.speed,
+ recv.telemetry.accel);
+ } else {
+ /* Ad-hoc flight values */
+ printf(AO_TELEM_ADHOC_ACCEL " %d "
+ AO_TELEM_ADHOC_SPEED " %ld "
+ AO_TELEM_ADHOC_BARO " %d ",
+ recv.telemetry.accel,
+ recv.telemetry.u.flight_vel,
+ recv.telemetry.height);
+ }