turn debugging off for pre-flight swing test and test flight

[fw/altos] / src / kernel / ao_flight.c

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index f778b2fbb62896dca526eeafbd83755f3def1dad..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))
 
+#if !HAS_BARO
+// #define DEBUG_ACCEL_ONLY    1
+#endif
+
 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 ||
-                           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
@@ -201,17 +205,11 @@ ao_flight(void)
 
                        break;
 
+#if DEBUG_ACCEL_ONLY
                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:
-                       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);
+                       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
 
@@ -232,10 +230,7 @@ ao_flight(void)
                        if (ao_height > AO_M_TO_HEIGHT(20)
 #if HAS_ACCEL
                            || (ao_accel > AO_MSS_TO_ACCEL(20)
-#if HAS_BARO
-                               && ao_speed > AO_MS_TO_SPEED(5)
-#endif
-)
+                               && ao_speed > AO_MS_TO_SPEED(5))
 #endif
                                )
                        {