Merge branch 'micropeak-1.1'

[fw/altos] / src / drivers / ao_companion.c

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index a3167956fd9ca25d464a42426e570e214e9dd7f1..0ebe8429124966790244e0a2fa5083782a0525a6 100644 (file)
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -53,6 +53,10 @@ ao_companion_send_command(uint8_t command)
        ao_companion_command.tick = ao_time();
        ao_companion_command.serial = ao_serial_number;
        ao_companion_command.flight = ao_flight_number;
+       ao_companion_command.accel = ao_accel;
+       ao_companion_command.speed = ao_speed;
+       ao_companion_command.height = ao_height;
+       ao_companion_command.motor_number = ao_motor_number;
        ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
 }
 
@@ -64,7 +68,7 @@ ao_companion_get_setup(void)
        ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
        COMPANION_DESELECT();
        return (ao_companion_setup.board_id ==
-               ~ao_companion_setup.board_id_inverse);
+               (uint16_t) ~ao_companion_setup.board_id_inverse);
 }
 
 static void
@@ -112,10 +116,15 @@ ao_companion_status(void) __reentrant
 {
        uint8_t i;
        printf("Companion running: %d\n", ao_companion_running);
-       printf("device: %d\n", ao_companion_setup.board_id);
-       printf("update period: %d\n", ao_companion_setup.update_period);
-       printf("channels: %d\n", ao_companion_setup.channels);
-       printf("data:");
+       if (!ao_companion_running)
+               return;
+       printf("device: %d\n"
+              "update period: %d\n"
+              "channels: %d\n"
+              "data:",
+              ao_companion_setup.board_id,
+              ao_companion_setup.update_period,
+              ao_companion_setup.channels);
        for(i = 0; i < ao_companion_setup.channels; i++)
                printf(" %5u", ao_companion_data[i]);
        printf("\n");