altos: De-bias height/speed data while on pad

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

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 2142546c9b0737b186cca6f6dce65fa51c8e30ec..3f06535ffb3795601b5da8e1ff743225783e5c3a 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -102,6 +102,13 @@ uint8_t                    ao_flight_force_idle;
 
 #define abs(a) ((a) < 0 ? -(a) : (a))
 
+static bool accel_plus_g_failed;
+static bool accel_minus_g_failed;
+static bool accel_plus_failed;
+static bool accel_minus_failed;
+
+static char *btos(bool x) { return x? "true" : "false"; }
+
 void
 ao_flight(void)
 {
@@ -127,14 +134,22 @@ 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
 #endif
                                )
                        {
+                               if (ao_config.accel_plus_g == 0)
+                                       accel_plus_g_failed = true;
+                               if (ao_config.accel_minus_g == 0)
+                                       accel_minus_g_failed = true;
+                               if (ao_ground_accel < (accel_t) ao_config.accel_plus_g - ACCEL_NOSE_UP)
+                                       accel_plus_failed = true;
+                               if (ao_ground_accel > (accel_t) ao_config.accel_minus_g + ACCEL_NOSE_UP)
+                                       accel_minus_failed = true;
                                /* Detected an accel value outside -1.5g to 1.5g
                                 * (or uncalibrated values), so we go into invalid mode
                                 */
@@ -200,6 +215,25 @@ ao_flight(void)
                        ao_wakeup(&ao_flight_state);
 
                        break;
+
+               case ao_flight_invalid:
+                       printf("+g? %s -g? %s +? %s -? %s +g %d -g %d ga %d +g-NU %d -g+NU %d\n",
+                              btos(accel_plus_g_failed),
+                              btos(accel_minus_g_failed),
+                              btos(accel_plus_failed),
+                              btos(accel_minus_failed),
+                              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);
+                       break;
+#endif
+
                case ao_flight_pad:
                        /* pad to boost:
                         *
@@ -216,8 +250,8 @@ ao_flight(void)
                         */
                        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
                                )
                        {