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altos: debug invalid state for easymotor
[fw/altos]
/
src
/
kernel
/
ao_flight.c
diff --git
a/src/kernel/ao_flight.c
b/src/kernel/ao_flight.c
index e895904c720bc91645ac6c8a31474ba9af8b0f0a..f778b2fbb62896dca526eeafbd83755f3def1dad 100644
(file)
--- a/
src/kernel/ao_flight.c
+++ b/
src/kernel/ao_flight.c
@@
-201,9
+201,16
@@
ao_flight(void)
break;
break;
+ case ao_flight_invalid:
+ printf("+g %d -g %d ga %d +g-NU %d -g+NU %d\n",
+ ao_config.accel_plus_g,
+ ao_config.accel_minus_g,
+ ao_ground_accel,
+ ao_config.accel_plus_g - ACCEL_NOSE_UP,
+ ao_config.accel_minus_g + ACCEL_NOSE_UP);
+ break;
#if 0
case ao_flight_idle:
#if 0
case ao_flight_idle:
- case ao_flight_invalid:
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
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
@@
-226,8
+233,9
@@
ao_flight(void)
#if HAS_ACCEL
|| (ao_accel > AO_MSS_TO_ACCEL(20)
#if HAS_BARO
#if HAS_ACCEL
|| (ao_accel > AO_MSS_TO_ACCEL(20)
#if HAS_BARO
- && ao_speed > AO_MS_TO_SPEED(5)
)
+ && ao_speed > AO_MS_TO_SPEED(5)
#endif
#endif
+)
#endif
)
{
#endif
)
{