X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_flight.c;h=c678645561a88569ae0943455e7240234891c4bd;hb=46407f7f3e4d2b6e74b3a2e90b38736a792cfc54;hp=a0affc4868f028dd61ccea1b86c0ac863e404623;hpb=1ae3f467a1d7be2fc3b1a45ba12568a3a25a0099;p=fw%2Faltos

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index a0affc48..c6786455 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -48,7 +48,9 @@ __pdata uint16_t		ao_boost_tick;		/* time of launch detect */
 static __data uint16_t		ao_interval_end;
 static __data int16_t		ao_interval_min_height;
 static __data int16_t		ao_interval_max_height;
+#if HAS_ACCEL
 static __data int16_t		ao_coast_avg_accel;
+#endif
 
 __pdata uint8_t			ao_flight_force_idle;
 
@@ -112,7 +114,7 @@ ao_flight(void)
  			{
 				/* Set pad mode - we can fly! */
 				ao_flight_state = ao_flight_pad;
-#if HAS_USB && HAS_RADIO
+#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG
 				/* Disable the USB controller in flight mode
 				 * to save power
 				 */
@@ -350,13 +352,13 @@ ao_flight(void)
 				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 			}
 			break;
-		case ao_flight_landed:
+		default:
 			break;
 		}
 	}
 }
 
-#if !HAS_RADIO
+#if HAS_FLIGHT_DEBUG
 static inline int int_part(int16_t i)	{ return i >> 4; }
 static inline int frac_part(int16_t i)	{ return ((i & 0xf) * 100 + 8) / 16; }
 
@@ -376,6 +378,7 @@ ao_flight_dump(void)
 	printf ("  raw accel   %d\n", ao_sample_accel);
 #endif
 	printf ("  ground pres %d\n", ao_ground_pres);
+	printf ("  ground alt  %d\n", ao_ground_height);
 #if HAS_ACCEL
 	printf ("  raw accel   %d\n", ao_sample_accel);
 	printf ("  groundaccel %d\n", ao_ground_accel);
@@ -411,7 +414,7 @@ void
 ao_flight_init(void)
 {
 	ao_flight_state = ao_flight_startup;
-#if !HAS_RADIO
+#if HAS_FLIGHT_DEBUG
 	ao_cmd_register(&ao_flight_cmds[0]);
 #endif
 	ao_add_task(&flight_task, ao_flight, "flight");