X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_flight.c;h=a81b9c652c1265ca8f25ed2f228734caa525246d;hb=d8a3e3301534619f091c5a9b08133d358d0a93f0;hp=e895904c720bc91645ac6c8a31474ba9af8b0f0a;hpb=ab10b26a8299670db20618551fcc6a1a09bd34e8;p=fw%2Faltos

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index e895904c..a81b9c65 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
@@ -201,10 +205,11 @@ ao_flight(void)
 
 			break;
 
-#if 0
-		case ao_flight_idle:
+#if DEBUG_ACCEL_ONLY
 		case ao_flight_invalid:
-			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);
+		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
 
@@ -225,9 +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
 #endif
 				)
 			{