altos/plottest: Make linewidth bigger

[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 2d862f82a944f5663281273bbcf52b1c45b859a7..746a681463ab4d2238f3f457c3470b9e15fcc07b 100644 (file)
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -305,7 +305,7 @@ struct ao_task {
 #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;
 
@@ -438,10 +438,6 @@ static uint16_t    pyros_fired;
 static struct ao_mpu6000_sample        ao_ground_mpu6000;
 #endif
 
-#if HAS_ACCEL
-int ao_error_h_sq_avg;
-#endif
-
 void
 ao_test_exit(void)
 {
@@ -504,7 +500,7 @@ ao_insert(void)
        ao_data_ring[ao_data_head] = ao_data_static;
        if (ao_flight_state != ao_flight_startup) {
 #if HAS_ACCEL
-               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;
@@ -515,7 +511,12 @@ ao_insert(void)
                        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;
 
@@ -653,7 +654,7 @@ ao_insert(void)
 
 #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 "
@@ -663,7 +664,7 @@ ao_insert(void)
                               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,