X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_flight.c;h=3c1067cb44e9e079675d863a2eb38368e096e733;hb=ce476a766eb080468a338da7a0ea632a77c7a5dd;hp=f778b2fbb62896dca526eeafbd83755f3def1dad;hpb=805c770deb429065389b24534ebcdc1e6d234629;p=fw%2Faltos

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index f778b2fb..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
@@ -201,17 +205,11 @@ ao_flight(void)
 
 			break;
 
+#if DEBUG_ACCEL_ONLY
 		case ao_flight_invalid:
-			printf("+g %d -g %d ga %d +g-NU %d -g+NU %d\n",
-			       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
 
@@ -232,10 +230,7 @@ ao_flight(void)
 			if (ao_height > AO_M_TO_HEIGHT(20)
 #if HAS_ACCEL
 			    || (ao_accel > AO_MSS_TO_ACCEL(20)
-#if HAS_BARO
-				&& ao_speed > AO_MS_TO_SPEED(5)
-#endif
-)
+				&& ao_speed > AO_MS_TO_SPEED(5))
 #endif
 				)
 			{