__pdata uint16_t ao_boost_tick; /* time of launch detect */
__pdata uint16_t ao_motor_number; /* number of motors burned so far */
-#if HAS_IMU
+#if HAS_SENSOR_ERRORS
/* Any sensor can set this to mark the flight computer as 'broken' */
__xdata uint8_t ao_sensor_errors;
#endif
} else {
/* Set idle mode */
ao_flight_state = ao_flight_idle;
-#if HAS_IMU
+#if HAS_SENSOR_ERRORS
if (ao_sensor_errors)
ao_flight_state = ao_flight_invalid;
#endif
#if HAS_ACCEL
int16_t accel;
- accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16;
+ accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
#endif
printf ("sample:\n");
ao_flight_state = ao_flight_idle;
}
+uint8_t ao_orient_test;
+
+static void
+ao_orient_test_select(void)
+{
+ ao_orient_test = !ao_orient_test;
+}
+
__code struct ao_cmds ao_flight_cmds[] = {
{ ao_flight_dump, "F\0Dump flight status" },
{ ao_gyro_test, "G\0Test gyro code" },
+ { ao_orient_test_select,"O\0Test orientation code" },
{ 0, NULL },
};
#endif