X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_flight.c;h=cb02c4549ee20564981f8fafa7c2072b1bdd1b65;hb=40236913922e0395780cd7d90354546ecaf279f9;hp=2b433ee9b9bd998ba7325be82e62e21643299255;hpb=c674a20432c2cb97e5bc2a3de891f78b9e172fe9;p=fw%2Faltos

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 2b433ee9..cb02c454 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -20,7 +21,7 @@
 #include <ao_log.h>
 #endif
 
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
 #include <ao_quaternion.h>
 #endif
 
@@ -60,10 +61,10 @@ __xdata uint8_t			ao_sensor_errors;
  * resting
  */
 static __data uint16_t		ao_interval_end;
-static __data int16_t		ao_interval_min_height;
-static __data int16_t		ao_interval_max_height;
+static __data ao_v_t		ao_interval_min_height;
+static __data ao_v_t		ao_interval_max_height;
 #if HAS_ACCEL
-static __data int16_t		ao_coast_avg_accel;
+static __data ao_v_t		ao_coast_avg_accel;
 #endif
 
 __pdata uint8_t			ao_flight_force_idle;
@@ -130,7 +131,7 @@ ao_flight(void)
  			{
 				/* Set pad mode - we can fly! */
 				ao_flight_state = ao_flight_pad;
-#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
+#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE && !DEBUG
 				/* Disable the USB controller in flight mode
 				 * to save power
 				 */
@@ -268,7 +269,7 @@ ao_flight(void)
 			 * number of seconds.
 			 */
 			if (ao_config.apogee_lockout) {
-				if ((ao_sample_tick - ao_boost_tick) <
+				if ((int16_t) (ao_sample_tick - ao_boost_tick) <
 				    AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 					break;
 			}
@@ -281,9 +282,11 @@ ao_flight(void)
 			 * the measured altitude reasonably closely; otherwise
 			 * we're probably transsonic.
 			 */
+#define AO_ERROR_BOUND	100
+
 			if (ao_speed < 0
 #if !HAS_ACCEL
-			    && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
+			    && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND)
 #endif
 				)
 			{
@@ -370,8 +373,10 @@ ao_flight(void)
 				{
 					ao_flight_state = ao_flight_landed;
 
+#if HAS_ADC
 					/* turn off the ADC capture */
 					ao_timer_set_adc_interval(0);
+#endif
 
 					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 				}
@@ -398,14 +403,14 @@ ao_flight(void)
 }
 
 #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; }
+static inline int int_part(ao_v_t i)	{ return i >> 4; }
+static inline int frac_part(ao_v_t i)	{ return ((i & 0xf) * 100 + 8) / 16; }
 
 static void
 ao_flight_dump(void)
 {
 #if HAS_ACCEL
-	int16_t	accel;
+	ao_v_t	accel;
 
 	accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
 #endif