X-Git-Url: https://git.gag.com/?a=blobdiff_plain;ds=sidebyside;f=src%2Fkernel%2Fao_flight.c;h=3c1067cb44e9e079675d863a2eb38368e096e733;hb=3ed101d634968666cd3ee2d8c49737970caf406b;hp=2142546c9b0737b186cca6f6dce65fa51c8e30ec;hpb=3058ecdeafdee959b1103965f3df4ffcd59683e4;p=fw%2Faltos

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 2142546c..3c1067cb 100644
--- 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
@@ -200,6 +204,15 @@ ao_flight(void)
 			ao_wakeup(&ao_flight_state);
 
 			break;
+
+#if DEBUG_ACCEL_ONLY
+		case ao_flight_invalid:
+		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 +229,8 @@ 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
 				)
 			{