altos: Auto-calibrate linux-based flight testing code

[fw/altos] / src / ao_flight_test.c

diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c
index 61f48cb6e14d8236bd111368c24cf44856cfcd27..108d2c19fff5271beee64d45ef8a35542af6ec2e 100644 (file)
--- a/src/ao_flight_test.c
+++ b/src/ao_flight_test.c
@@ -154,6 +154,8 @@ struct ao_config {
 
 struct ao_config ao_config = { 250, 15937, 16467 };
 
+#define DATA_TO_XDATA(x) (x)
+
 #include "ao_flight.c"
 
 void
@@ -217,7 +219,7 @@ ao_sleep(void *wchan)
                                type = words[0][0];
                                tick = strtoul(words[1], NULL, 16);
                                a = strtoul(words[2], NULL, 16);
-                               b = strtoul(words[2], NULL, 16);
+                               b = strtoul(words[3], NULL, 16);
                        } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
                                tick = atoi(words[10]);
                                if (!ao_flight_started) {
@@ -236,6 +238,8 @@ 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;
                                ao_flight_started = 1;
                                break;
                        case 'S':