altos: mma655x also needs ao_sensor_errors

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

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 2495a44bafe85553a3facfcb5eac0839c416b73c..aac6880db1260d6dea90a4ce47cd5319e6e1d0f4 100644 (file)
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -20,6 +20,10 @@
 #include <ao_log.h>
 #endif
 
+#if HAS_MPU6000
+#include <ao_quaternion.h>
+#endif
+
 #ifndef HAS_ACCEL
 #error Please define HAS_ACCEL
 #endif
@@ -42,6 +46,11 @@ __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_SENSOR_ERRORS
+/* Any sensor can set this to mark the flight computer as 'broken' */
+__xdata uint8_t                        ao_sensor_errors;
+#endif
+
 /*
  * track min/max data over a long interval to detect
  * resting
@@ -140,7 +149,11 @@ ao_flight(void)
 #endif
                        } else {
                                /* Set idle mode */
-                               ao_flight_state = ao_flight_idle;
+                               ao_flight_state = ao_flight_idle;
+#if HAS_SENSOR_ERRORS
+                               if (ao_sensor_errors)
+                                       ao_flight_state = ao_flight_invalid;
+#endif
  
 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
                                /* Turn on packet system in idle mode on TeleMetrum */
@@ -360,6 +373,18 @@ ao_flight(void)
                                ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
                        }
                        break;
+#if HAS_FLIGHT_DEBUG
+               case ao_flight_test:
+#if HAS_GYRO
+                       printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
+                               ao_sample_orient,
+                               ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
+                               ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
+                               ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
+#endif
+                       flush();
+                       break;
+#endif /* HAS_FLIGHT_DEBUG */
                default:
                        break;
                }
@@ -410,8 +435,17 @@ ao_flight_dump(void)
        printf ("  error_avg   %d\n", ao_error_h_sq_avg);
 }
 
+static void
+ao_gyro_test(void)
+{
+       ao_flight_state = ao_flight_test;
+       ao_getchar();
+       ao_flight_state = ao_flight_idle;
+}
+
 __code struct ao_cmds ao_flight_cmds[] = {
        { ao_flight_dump,       "F\0Dump flight status" },
+       { ao_gyro_test,         "G\0Test gyro code" },
        { 0, NULL },
 };
 #endif