altos/test: auto-configure acceleration parameters from the log file

[fw/altos] / src / ao_flight_test.c

diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c
index 5c61951853d63c84ddc6905be651b002a1e9a2d0..8ce94895026213b2954124d7f548d733030fb6d7 100644 (file)
--- a/src/ao_flight_test.c
+++ b/src/ao_flight_test.c
@@ -152,7 +152,7 @@ struct ao_config {
 
 #define ao_config_get()
 
-struct ao_config ao_config = { 250, 15937, 16467 };
+struct ao_config ao_config;
 
 #define DATA_TO_XDATA(x) (x)
 
@@ -220,6 +220,11 @@ ao_sleep(void *wchan)
                                tick = strtoul(words[1], NULL, 16);
                                a = strtoul(words[2], NULL, 16);
                                b = strtoul(words[3], NULL, 16);
+                       } else if (nword >= 6 && strcmp(words[0], "Accel")) {
+                               ao_config.accel_plus_g = atoi(words[3]);
+                               ao_config.accel_minus_g = atoi(words[5]);
+                       } else if (nword >= 4 && strcmp(words[0], "Main")) {
+                               ao_config.main_deploy = atoi(words[2]);
                        } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
                                tick = atoi(words[10]);
                                if (!ao_flight_started) {
@@ -238,8 +243,12 @@ ao_sleep(void *wchan)
                        switch (type) {
                        case 'F':
                                ao_flight_ground_accel = a;
-                               ao_config.accel_plus_g = a;
-                               ao_config.accel_minus_g = a + 530;
+                               if (ao_config.accel_plus_g == 0) {
+                                       ao_config.accel_plus_g = a;
+                                       ao_config.accel_minus_g = a + 530;
+                               }
+                               if (ao_config.main_deploy == 0)
+                                       ao_config.main_deploy = 250;
                                ao_flight_started = 1;
                                break;
                        case 'S':