altos: Disable accel-only debug for test flights

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

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 4ffbcf4b43715d2b732898cc94b4f94732819298..883098ed9bdebbb08ff1a29432861b3c34ab6fc6 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -127,8 +127,8 @@ 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
@@ -201,10 +201,13 @@ ao_flight(void)
 
                        break;
 
-               case ao_flight_idle:
+#if DEBUG_ACCEL_ONLY
                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);
+               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:
@@ -222,8 +225,8 @@ 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
                                )
                        {