altos: Fix HAS_FLIGHT_DEBUG for easytimer

[fw/altos] / src / kernel / ao_sample.c

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index b3e12b19df7579ff50734defc8153fa9247db8d3..67f20aff9093b5941a3ccee9ffc5e6e752f96479 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -225,7 +225,10 @@ ao_sample_preflight_set(void)
        ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
 #if HAS_FLIGHT_DEBUG
        if (ao_orient_test)
-               printf("\n\treset\n");
+               printf("\n\treset across %d through %d along %d\n",
+                      (ao_ground_accel_across - ao_config.accel_zero_across),
+                      (ao_ground_accel_through - ao_config.accel_zero_through),
+                      (ao_ground_accel_along - ao_config.accel_zero_along));
 #endif 
 
        ao_sample_compute_orient();
@@ -348,10 +351,7 @@ ao_sample(void)
 #endif
 
 #if HAS_ACCEL
-               ao_sample_accel = ao_data_accel_cook(ao_data);
-               if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
-                       ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
-               ao_data_set_accel(ao_data, ao_sample_accel);
+               ao_sample_accel = ao_data_accel(ao_data);
 #endif
 #if HAS_GYRO
                ao_sample_accel_along = ao_data_along(ao_data);