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altos: Disable accel-only debug for test flights
[fw/altos]
/
src
/
kernel
/
ao_flight.c
diff --git
a/src/kernel/ao_flight.c
b/src/kernel/ao_flight.c
index c55e55f67f1dbcd49144c67f461b24ffbd55140a..883098ed9bdebbb08ff1a29432861b3c34ab6fc6 100644
(file)
--- a/
src/kernel/ao_flight.c
+++ b/
src/kernel/ao_flight.c
@@
-127,8
+127,8
@@
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
@@
-201,9
+201,13
@@
ao_flight(void)
break;
break;
+#if DEBUG_ACCEL_ONLY
+ case ao_flight_invalid:
case ao_flight_idle:
case ao_flight_idle:
- printf("accel %ld speed %ld\n", ao_accel, ao_speed);
+ 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;
break;
+#endif
case ao_flight_pad:
/* pad to boost:
case ao_flight_pad:
/* pad to boost:
@@
-221,8
+225,8
@@
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
)
{