altos: Make sure pa to altitude conversion is done with 32 bits

[fw/altos] / src / core / ao_flight.c

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index a0affc4868f028dd61ccea1b86c0ac863e404623..64c95063ae9f5ea1e59a12dd6a2317d3e0be328e 100644 (file)
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -40,6 +40,7 @@
 
 __pdata enum ao_flight_state   ao_flight_state;        /* current flight state */
 __pdata uint16_t               ao_boost_tick;          /* time of launch detect */
+__pdata uint16_t               ao_motor_number;        /* number of motors burned so far */
 
 /*
  * track min/max data over a long interval to detect
@@ -48,7 +49,9 @@ __pdata uint16_t              ao_boost_tick;          /* time of launch detect */
 static __data uint16_t         ao_interval_end;
 static __data int16_t          ao_interval_min_height;
 static __data int16_t          ao_interval_max_height;
+#if HAS_ACCEL
 static __data int16_t          ao_coast_avg_accel;
+#endif
 
 __pdata uint8_t                        ao_flight_force_idle;
 
@@ -112,7 +115,7 @@ ao_flight(void)
                        {
                                /* Set pad mode - we can fly! */
                                ao_flight_state = ao_flight_pad;
-#if HAS_USB && HAS_RADIO
+#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
                                /* Disable the USB controller in flight mode
                                 * to save power
                                 */
@@ -213,6 +216,7 @@ ao_flight(void)
 #else
                                ao_flight_state = ao_flight_coast;
 #endif
+                               ++ao_motor_number;
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        break;
@@ -350,13 +354,13 @@ ao_flight(void)
                                ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
                        }
                        break;
-               case ao_flight_landed:
+               default:
                        break;
                }
        }
 }
 
-#if !HAS_RADIO
+#if HAS_FLIGHT_DEBUG
 static inline int int_part(int16_t i)  { return i >> 4; }
 static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; }
 
@@ -376,6 +380,7 @@ ao_flight_dump(void)
        printf ("  raw accel   %d\n", ao_sample_accel);
 #endif
        printf ("  ground pres %d\n", ao_ground_pres);
+       printf ("  ground alt  %d\n", ao_ground_height);
 #if HAS_ACCEL
        printf ("  raw accel   %d\n", ao_sample_accel);
        printf ("  groundaccel %d\n", ao_ground_accel);
@@ -411,7 +416,7 @@ void
 ao_flight_init(void)
 {
        ao_flight_state = ao_flight_startup;
-#if !HAS_RADIO
+#if HAS_FLIGHT_DEBUG
        ao_cmd_register(&ao_flight_cmds[0]);
 #endif
        ao_add_task(&flight_task, ao_flight, "flight");