altosui: Eliminate ao_cmd_filter hook

[fw/altos] / src / ao_monitor.c

diff --git a/src/ao_monitor.c b/src/ao_monitor.c
index d6fd8305ea4634338e16142301b0771a58cfb40e..8f2900716666ea71604433b619edc60e5821a748 100644 (file)
--- a/src/ao_monitor.c
+++ b/src/ao_monitor.c
@@ -92,23 +92,23 @@ ao_monitor(void)
                                       recv.telemetry.accel_plus_g,
                                       recv.telemetry.accel_minus_g);
 
-#if 0
-                               /* Kalman state values */
-                               printf(AO_TELEM_KALMAN_HEIGHT " %d "
-                                      AO_TELEM_KALMAN_SPEED " %d "
-                                      AO_TELEM_KALMAN_ACCEL " %d ",
-                                      recv.telemetry.height,
-                                      recv.telemetry.speed,
-                                      recv.telemetry.accel);
-#else
-                               /* Ad-hoc flight values */
-                               printf(AO_TELEM_ADHOC_ACCEL " %d "
-                                      AO_TELEM_ADHOC_SPEED " %ld "
-                                      AO_TELEM_ADHOC_BARO " %d ",
-                                      recv.telemetry.flight_accel,
-                                      recv.telemetry.flight_vel,
-                                      recv.telemetry.flight_pres);
-#endif
+                               if (recv.telemetry.u.k.unused == 0x8000) {
+                                       /* Kalman state values */
+                                       printf(AO_TELEM_KALMAN_HEIGHT " %d "
+                                              AO_TELEM_KALMAN_SPEED " %d "
+                                              AO_TELEM_KALMAN_ACCEL " %d ",
+                                              recv.telemetry.height,
+                                              recv.telemetry.u.k.speed,
+                                              recv.telemetry.accel);
+                               } else {
+                                       /* Ad-hoc flight values */
+                                       printf(AO_TELEM_ADHOC_ACCEL " %d "
+                                              AO_TELEM_ADHOC_SPEED " %ld "
+                                              AO_TELEM_ADHOC_BARO " %d ",
+                                              recv.telemetry.accel,
+                                              recv.telemetry.u.flight_vel,
+                                              recv.telemetry.height);
+                               }
                                ao_gps_print(&recv.telemetry.gps);
                                ao_gps_tracking_print(&recv.telemetry.gps_tracking);
                                putchar('\n');