X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_companion.c;h=c749adea9de2f2da295bf2aa64f28c9642ed1103;hb=91b8c8b20cead2836ec835f44b4ca0cf06cbf518;hp=a3167956fd9ca25d464a42426e570e214e9dd7f1;hpb=0cfd22baa6af44e053428c30c1a95cf5551b68af;p=fw%2Faltos

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index a3167956..c749adea 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -53,6 +53,10 @@ ao_companion_send_command(uint8_t command)
 	ao_companion_command.tick = ao_time();
 	ao_companion_command.serial = ao_serial_number;
 	ao_companion_command.flight = ao_flight_number;
+	ao_companion_command.accel = ao_accel;
+	ao_companion_command.speed = ao_speed;
+	ao_companion_command.height = ao_height;
+	ao_companion_command.motor_number = ao_motor_number;
 	ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
 }
 
@@ -64,7 +68,7 @@ ao_companion_get_setup(void)
 	ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
 	COMPANION_DESELECT();
 	return (ao_companion_setup.board_id ==
-		~ao_companion_setup.board_id_inverse);
+		(uint16_t) ~ao_companion_setup.board_id_inverse);
 }
 
 static void
@@ -112,6 +116,8 @@ ao_companion_status(void) __reentrant
 {
 	uint8_t	i;
 	printf("Companion running: %d\n", ao_companion_running);
+	if (!ao_companion_running)
+		return;
 	printf("device: %d\n", ao_companion_setup.board_id);
 	printf("update period: %d\n", ao_companion_setup.update_period);
 	printf("channels: %d\n", ao_companion_setup.channels);