altos/lisp: Clean up hanoi.lisp comments.

[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 fbbc4bd97004997850c1c78939dd48b6d35abe7e..25ddb48fefb6f982a4558eac59c99089e463f1e3 100644 (file)
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -57,6 +58,7 @@ int ao_gps_new;
 #define HAS_HMC5883            1
 #define HAS_BEEP               1
 #define AO_CONFIG_MAX_SIZE     1024
+#define AO_MMA655X_INVERT      0
 
 struct ao_adc {
        int16_t                 sense[AO_ADC_NUM_SENSE];
@@ -70,6 +72,7 @@ struct ao_adc {
 #define AO_ADC_NUM_SENSE       2
 #define HAS_MS5607             1
 #define HAS_MMA655X            1
+#define AO_MMA655X_INVERT      1
 #define HAS_BEEP               1
 #define AO_CONFIG_MAX_SIZE     1024
 
@@ -372,6 +375,8 @@ uint16_t    prev_tick;
 #define AO_PYRO_2      2
 #define AO_PYRO_3      3
 
+#define PYRO_DBG       1
+
 static void
 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 {
@@ -554,9 +559,9 @@ ao_insert(void)
 
                        ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
 
+#if 0
                        int     out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
 
-#if 0
                        printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
                                time,
                                ao_state_names[ao_flight_state],
@@ -717,7 +722,7 @@ ao_sleep(void *wchan)
                                        break;
                        }
 #if TELEMEGA
-                       if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
+                       if ((log_format == AO_LOG_FORMAT_TELEMEGA_OLD || log_format == AO_LOG_FORMAT_TELEMEGA) && nword == 30 && strlen(words[0]) == 1) {
                                int     i;
                                struct ao_ms5607_value  value;
 
@@ -895,7 +900,6 @@ ao_sleep(void *wchan)
                                ao_config.accel_zero_along = atoi(words[3]);
                                ao_config.accel_zero_across = atoi(words[5]);
                                ao_config.accel_zero_through = atoi(words[7]);
-                               printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through);
 #endif
                        } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
                                ao_config.main_deploy = atoi(words[2]);