altos/test: Add baro-only flight test program

[fw/altos] / src / ao_flight_test.c

diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c
index e75bc8df348f5ca8dc240aaaaed6a8900f880d73..a635803f41b226b2bc988a65b229aaab60520883 100644 (file)
--- a/src/ao_flight_test.c
+++ b/src/ao_flight_test.c
@@ -72,6 +72,7 @@ uint8_t ao_adc_head;
 #define ao_telemetry_set_interval(x)
 #define ao_rdf_set(rdf)
 #define ao_packet_slave_start()
+#define ao_packet_slave_stop()
 
 enum ao_igniter {
        ao_igniter_drogue = 0,
@@ -118,30 +119,7 @@ struct ao_cmds {
        const char      *help;
 };
 
-
-static int16_t altitude_table[2048] = {
-#include "altitude.h"
-};
-
-int16_t
-ao_pres_to_altitude(int16_t pres) __reentrant
-{
-       pres = pres >> 4;
-       if (pres < 0) pres = 0;
-       if (pres > 2047) pres = 2047;
-       return altitude_table[pres];
-}
-
-int16_t
-ao_altitude_to_pres(int16_t alt) __reentrant
-{
-       int16_t pres;
-
-       for (pres = 0; pres < 2047; pres++)
-               if (altitude_table[pres] <= alt)
-                       break;
-       return pres << 4;
-}
+#include "ao_convert.c"
 
 struct ao_config {
        uint16_t        main_deploy;
@@ -161,8 +139,8 @@ struct ao_config ao_config;
 #define HAS_GPS 1
 #ifndef HAS_ACCEL
 #define HAS_ACCEL 1
-#endif
 #define HAS_ACCEL_REF 0
+#endif
 
 #include "ao_flight.c"
 
@@ -291,12 +269,19 @@ ao_dump_state(void)
 {
        if (ao_flight_state == ao_flight_startup)
                return;
+#if HAS_ACCEL
        printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
                ao_state_names[ao_flight_state],
                (ao_ground_accel - ao_flight_accel) / COUNTS_PER_G * GRAVITY,
                (double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
                ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
                ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
+#else
+       printf ("\t\t\t\t\t%s alt %d main %d\n",
+               ao_state_names[ao_flight_state],
+               ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
+               ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
+#endif
        if (ao_flight_state == ao_flight_landed)
                exit(0);
 }