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altos: Remove *_TO_DATA macros
[fw/altos]
/
src
/
test
/
ao_flight_test.c
diff --git
a/src/test/ao_flight_test.c
b/src/test/ao_flight_test.c
index 298848d6a46b4a7921bd8fddb9ba4605020e3e25..0913e7ba96a3a99f4498f6a0c1820d215e232a1e 100644
(file)
--- a/
src/test/ao_flight_test.c
+++ b/
src/test/ao_flight_test.c
@@
-25,6
+25,7
@@
#include <string.h>
#include <getopt.h>
#include <math.h>
#include <string.h>
#include <getopt.h>
#include <math.h>
+#define log ao_log_data
#define GRAVITY 9.80665
#define GRAVITY 9.80665
@@
-304,7
+305,7
@@
struct ao_task {
#define AO_MS_TO_TICKS(ms) ((ms) / 10)
#define AO_SEC_TO_TICKS(s) ((s) * 100)
#define AO_MS_TO_TICKS(ms) ((ms) / 10)
#define AO_SEC_TO_TICKS(s) ((s) * 100)
-#define AO_FLIGHT_TEST
+#define AO_FLIGHT_TEST
1
int ao_flight_debug;
int ao_flight_debug;
@@
-361,7
+362,7
@@
struct ao_ms5607_prom ao_ms5607_prom;
struct ao_config ao_config;
struct ao_config ao_config;
-#define
DATA_TO_XDATA(x)
(x)
+#define
x
(x)
extern int16_t ao_ground_accel, ao_flight_accel;
extern int16_t ao_ground_accel, ao_flight_accel;
@@
-370,7
+371,7
@@
extern int16_t ao_accel_2g;
typedef int16_t accel_t;
uint16_t ao_serial_number;
typedef int16_t accel_t;
uint16_t ao_serial_number;
-
uint16_t
ao_flight_number;
+
int16_t
ao_flight_number;
extern uint16_t ao_sample_tick;
extern uint16_t ao_sample_tick;
@@
-437,10
+438,6
@@
static uint16_t pyros_fired;
static struct ao_mpu6000_sample ao_ground_mpu6000;
#endif
static struct ao_mpu6000_sample ao_ground_mpu6000;
#endif
-#if HAS_ACCEL
-int ao_error_h_sq_avg;
-#endif
-
void
ao_test_exit(void)
{
void
ao_test_exit(void)
{
@@
-503,7
+500,7
@@
ao_insert(void)
ao_data_ring[ao_data_head] = ao_data_static;
if (ao_flight_state != ao_flight_startup) {
#if HAS_ACCEL
ao_data_ring[ao_data_head] = ao_data_static;
if (ao_flight_state != ao_flight_startup) {
#if HAS_ACCEL
- double accel = ((ao_flight_ground_accel - ao_data_accel
_cook
(&ao_data_static)) * GRAVITY * 2.0) /
+ double accel = ((ao_flight_ground_accel - ao_data_accel(&ao_data_static)) * GRAVITY * 2.0) /
(ao_config.accel_minus_g - ao_config.accel_plus_g);
#else
double accel = 0.0;
(ao_config.accel_minus_g - ao_config.accel_plus_g);
#else
double accel = 0.0;
@@
-514,7
+511,12
@@
ao_insert(void)
tick_offset = -ao_data_static.tick;
if ((prev_tick - ao_data_static.tick) > 0x400)
tick_offset += 65536;
tick_offset = -ao_data_static.tick;
if ((prev_tick - ao_data_static.tick) > 0x400)
tick_offset += 65536;
- simple_speed += accel * (ao_data_static.tick - prev_tick) / 100.0;
+ if (prev_tick) {
+ int ticks = ao_data_static.tick - prev_tick;
+ if (ticks < 0)
+ ticks += 65536;
+ simple_speed += accel * ticks / 100.0;
+ }
prev_tick = ao_data_static.tick;
time = (double) (ao_data_static.tick + tick_offset) / 100;
prev_tick = ao_data_static.tick;
time = (double) (ao_data_static.tick + tick_offset) / 100;
@@
-652,7
+654,7
@@
ao_insert(void)
#if 1
printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
#if 1
printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
- "state %
-8.8s
k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
+ "state %
d
k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
#if TELEMEGA
" angle %5d "
"accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d "
#if TELEMEGA
" angle %5d "
"accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d "
@@
-662,7
+664,7
@@
ao_insert(void)
height,
accel,
simple_speed > -100.0 ? simple_speed : -100.0,
height,
accel,
simple_speed > -100.0 ? simple_speed : -100.0,
- ao_
state_names[ao_flight_state]
,
+ ao_
flight_state * 10
,
ao_k_height / 65536.0,
ao_k_speed / 65536.0 / 16.0,
ao_k_accel / 65536.0 / 16.0,
ao_k_height / 65536.0,
ao_k_speed / 65536.0 / 16.0,
ao_k_accel / 65536.0 / 16.0,
@@
-998,7
+1000,7
@@
main (int argc, char **argv)
#else
emulator_app="baro";
#endif
#else
emulator_app="baro";
#endif
- while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
+ while ((c = getopt_long(argc, argv, "sd
p
i:", options, NULL)) != -1) {
switch (c) {
case 's':
summary = 1;
switch (c) {
case 's':
summary = 1;
@@
-1006,6
+1008,11
@@
main (int argc, char **argv)
case 'd':
ao_flight_debug = 1;
break;
case 'd':
ao_flight_debug = 1;
break;
+ case 'p':
+#if PYRO_DBG
+ pyro_dbg = 1;
+#endif
+ break;
case 'i':
info = optarg;
break;
case 'i':
info = optarg;
break;