X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Ftest%2Fao_flight_test.c;h=25ddb48fefb6f982a4558eac59c99089e463f1e3;hb=d37945f1404043e6bd287ce7ad7a57bc3289609b;hp=8b737ca1e71a9b123f720da3ad5c0b249a91d0c3;hpb=0fd867f504dd7df62e95da98ded511bb7b9e4c66;p=fw%2Faltos

diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 8b737ca1..25ddb48f 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.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
@@ -57,6 +58,7 @@ int ao_gps_new;
 #define HAS_HMC5883 		1
 #define HAS_BEEP		1
 #define AO_CONFIG_MAX_SIZE	1024
+#define AO_MMA655X_INVERT	0
 
 struct ao_adc {
 	int16_t			sense[AO_ADC_NUM_SENSE];
@@ -70,6 +72,7 @@ struct ao_adc {
 #define AO_ADC_NUM_SENSE	2
 #define HAS_MS5607		1
 #define HAS_MMA655X		1
+#define AO_MMA655X_INVERT	1
 #define HAS_BEEP		1
 #define AO_CONFIG_MAX_SIZE	1024
 
@@ -372,6 +375,8 @@ uint16_t	prev_tick;
 #define AO_PYRO_2	2
 #define AO_PYRO_3	3
 
+#define PYRO_DBG	1
+
 static void
 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 {
@@ -554,9 +559,9 @@ ao_insert(void)
 
 			ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
 
+#if 0
 			int	out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
 
-#if 0
 			printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
 				time,
 				ao_state_names[ao_flight_state],
@@ -600,7 +605,7 @@ ao_insert(void)
 
 #if 1
 			printf("%7.2f height %8.2f accel %8.3f "
-#if TELEMEGA && 0
+#if TELEMEGA && 1
 			       "angle %5d "
 			       "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d "
 #endif
@@ -608,7 +613,7 @@ ao_insert(void)
 			       time,
 			       height,
 			       accel,
-#if TELEMEGA && 0
+#if TELEMEGA && 1
 			       ao_sample_orient,
 
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
@@ -717,7 +722,7 @@ ao_sleep(void *wchan)
 					break;
 			}
 #if TELEMEGA
-			if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
+			if ((log_format == AO_LOG_FORMAT_TELEMEGA_OLD || log_format == AO_LOG_FORMAT_TELEMEGA) && nword == 30 && strlen(words[0]) == 1) {
 				int	i;
 				struct ao_ms5607_value	value;
 
@@ -764,6 +769,8 @@ ao_sleep(void *wchan)
 					ao_data_static.hmc5883.z = int16(bytes, 24);
 #if HAS_MMA655X
 					ao_data_static.mma655x = int16(bytes, 26);
+					if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
+						ao_data_static.mma655x = ao_data_accel_invert(ao_data_static.mma655x);
 #endif
 					ao_records_read++;
 					ao_insert();
@@ -893,13 +900,15 @@ ao_sleep(void *wchan)
 				ao_config.accel_zero_along = atoi(words[3]);
 				ao_config.accel_zero_across = atoi(words[5]);
 				ao_config.accel_zero_through = atoi(words[7]);
-				printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through);
 #endif
 			} else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 				ao_config.main_deploy = atoi(words[2]);
 			} else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
 				   strcmp(words[1], "lockout:") == 0) {
 				ao_config.apogee_lockout = atoi(words[2]);
+			} else if (nword >= 3 && strcmp(words[0], "Pad") == 0 &&
+				   strcmp(words[1], "orientation:") == 0) {
+				ao_config.pad_orientation = atoi(words[2]);
 			} else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 				tick = atoi(words[10]);
 				if (!ao_flight_started) {