X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_flight.c;h=3c1067cb44e9e079675d863a2eb38368e096e733;hb=ce476a766eb080468a338da7a0ea632a77c7a5dd;hp=3f06535ffb3795601b5da8e1ff743225783e5c3a;hpb=d55d7c56b81dba7043857a763d0749e93cf7823a;p=fw%2Faltos

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 3f06535f..3c1067cb 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -102,12 +102,9 @@ uint8_t			ao_flight_force_idle;
 
 #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"; }
+#if !HAS_BARO
+// #define DEBUG_ACCEL_ONLY	1
+#endif
 
 void
 ao_flight(void)
@@ -142,14 +139,6 @@ ao_flight(void)
 #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
 				 */
@@ -216,21 +205,11 @@ ao_flight(void)
 
 			break;
 
+#if DEBUG_ACCEL_ONLY
 		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("+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);
+			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