#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)
{
#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
*/
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("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;
+#endif
case ao_flight_pad:
/* pad to boost:
*/
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
)
{