altos: Use factory calibration for all acceleration computations

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

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 5918b997e6250eefb84bee7f26d8fd057760ae85..702c340385177df203a000494ad7fef49c190a88 100644 (file)
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -46,7 +46,7 @@ __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 */
 
-#if HAS_IMU
+#if HAS_SENSOR_ERRORS
 /* Any sensor can set this to mark the flight computer as 'broken' */
 __xdata uint8_t                        ao_sensor_errors;
 #endif
@@ -150,7 +150,7 @@ ao_flight(void)
                        } else {
                                /* Set idle mode */
                                ao_flight_state = ao_flight_idle;
-#if HAS_IMU
+#if HAS_SENSOR_ERRORS
                                if (ao_sensor_errors)
                                        ao_flight_state = ao_flight_invalid;
 #endif
@@ -401,7 +401,7 @@ ao_flight_dump(void)
 #if HAS_ACCEL
        int16_t accel;
 
-       accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16;
+       accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
 #endif
 
        printf ("sample:\n");
@@ -443,9 +443,18 @@ ao_gyro_test(void)
        ao_flight_state = ao_flight_idle;
 }
 
+uint8_t ao_orient_test;
+
+static void
+ao_orient_test_select(void)
+{
+       ao_orient_test = !ao_orient_test;
+}
+
 __code struct ao_cmds ao_flight_cmds[] = {
        { ao_flight_dump,       "F\0Dump flight status" },
        { ao_gyro_test,         "G\0Test gyro code" },
+       { ao_orient_test_select,"O\0Test orientation code" },
        { 0, NULL },
 };
 #endif