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kernel: Widen pyro time values to 32 bits
[fw/altos]
/
src
/
kernel
/
ao_flight.c
diff --git
a/src/kernel/ao_flight.c
b/src/kernel/ao_flight.c
index 2142546c9b0737b186cca6f6dce65fa51c8e30ec..3c1067cb44e9e079675d863a2eb38368e096e733 100644
(file)
--- a/
src/kernel/ao_flight.c
+++ b/
src/kernel/ao_flight.c
@@
-102,6
+102,10
@@
uint8_t ao_flight_force_idle;
#define abs(a) ((a) < 0 ? -(a) : (a))
#define abs(a) ((a) < 0 ? -(a) : (a))
+#if !HAS_BARO
+// #define DEBUG_ACCEL_ONLY 1
+#endif
+
void
ao_flight(void)
{
void
ao_flight(void)
{
@@
-127,8
+131,8
@@
ao_flight(void)
#if HAS_ACCEL
if (ao_config.accel_plus_g == 0 ||
ao_config.accel_minus_g == 0 ||
#if HAS_ACCEL
if (ao_config.accel_plus_g == 0 ||
ao_config.accel_minus_g == 0 ||
- ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
- ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP
+ ao_ground_accel <
(accel_t)
ao_config.accel_plus_g - ACCEL_NOSE_UP ||
+ ao_ground_accel >
(accel_t)
ao_config.accel_minus_g + ACCEL_NOSE_UP
#if HAS_BARO
|| ao_ground_height < -1000 ||
ao_ground_height > 7000
#if HAS_BARO
|| ao_ground_height < -1000 ||
ao_ground_height > 7000
@@
-200,6
+204,15
@@
ao_flight(void)
ao_wakeup(&ao_flight_state);
break;
ao_wakeup(&ao_flight_state);
break;
+
+#if DEBUG_ACCEL_ONLY
+ case ao_flight_invalid:
+ 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);
+ break;
+#endif
+
case ao_flight_pad:
/* pad to boost:
*
case ao_flight_pad:
/* pad to boost:
*
@@
-216,8
+229,8
@@
ao_flight(void)
*/
if (ao_height > AO_M_TO_HEIGHT(20)
#if HAS_ACCEL
*/
if (ao_height > AO_M_TO_HEIGHT(20)
#if HAS_ACCEL
- || (ao_accel > AO_MSS_TO_ACCEL(20)
&&
- ao_speed > AO_MS_TO_SPEED(5))
+ || (ao_accel > AO_MSS_TO_ACCEL(20)
+
&&
ao_speed > AO_MS_TO_SPEED(5))
#endif
)
{
#endif
)
{