altos: Clean up flight data definitions

[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 baf2ad1dcea2f2dd3f5b4368a29fd5ffba427c0c..b9e291cec1c2de71e9d53e52c04ea17cc93b34a8 100644 (file)
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -54,6 +54,15 @@ struct ao_adc {
 #define __code
 #define __reentrant
 
+#define HAS_FLIGHT 1
+#define HAS_IGNITE 1
+#define HAS_USB 1
+#define HAS_GPS 1
+#ifndef HAS_ACCEL
+#define HAS_ACCEL 1
+#define HAS_ACCEL_REF 0
+#endif
+
 #include <ao_data.h>
 
 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
@@ -141,7 +150,7 @@ struct ao_task {
        int dummy;
 };
 
-#define ao_add_task(t,f,n)
+#define ao_add_task(t,f,n) ((void) (t))
 
 #define ao_log_start()
 #define ao_log_stop()
@@ -156,6 +165,7 @@ int ao_flight_debug;
 FILE *emulator_in;
 char *emulator_app;
 char *emulator_name;
+char *emulator_info;
 double emulator_error_max = 4;
 double emulator_height_error_max = 20; /* noise in the baro sensor */
 
@@ -179,6 +189,7 @@ struct ao_cmds {
 #define ao_xmemset(d,v,c) memset(d,v,c)
 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 
+#define AO_NEED_ALTITUDE_TO_PRES 1
 #include "ao_convert.c"
 
 struct ao_config {
@@ -198,23 +209,17 @@ struct ao_config ao_config;
 
 #define DATA_TO_XDATA(x) (x)
 
-#define HAS_FLIGHT 1
-#define HAS_ADC 1
-#define HAS_USB 1
-#define HAS_GPS 1
-#ifndef HAS_ACCEL
-#define HAS_ACCEL 1
-#define HAS_ACCEL_REF 0
-#endif
 
 #define GRAVITY 9.80665
 extern int16_t ao_ground_accel, ao_flight_accel;
 extern int16_t ao_accel_2g;
 
+typedef int16_t        accel_t;
+
 extern uint16_t        ao_sample_tick;
 
 extern int16_t ao_sample_height;
-extern int16_t ao_sample_accel;
+extern accel_t ao_sample_accel;
 extern int32_t ao_accel_scale;
 extern int16_t ao_ground_height;
 extern int16_t ao_sample_alt;
@@ -223,8 +228,8 @@ int ao_sample_prev_tick;
 uint16_t       prev_tick;
 
 #include "ao_kalman.c"
-#include "ao_sample_mm.c"
-#include "ao_flight_mm.c"
+#include "ao_sample.c"
+#include "ao_flight.c"
 
 #define to_double(f)   ((f) / 65536.0)
 
@@ -259,10 +264,11 @@ ao_test_exit(void)
        main_error = fabs(ao_test_main_height_time - main_time);
        landed_error = fabs(ao_test_landed_height - landed_height);
        landed_time_error = ao_test_landed_time - landed_time;
-       if (drogue_error > emulator_error_max || main_error > emulator_error_max ||
-           landed_time_error > emulator_error_max || landed_error > emulator_height_error_max) {
+       if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
                printf ("%s %s\n",
                        emulator_app, emulator_name);
+               if (emulator_info)
+                       printf ("\t%s\n", emulator_info);
                printf ("\tApogee error %g\n", drogue_error);
                printf ("\tMain error %g\n", main_error);
                printf ("\tLanded height error %g\n", landed_error);
@@ -477,10 +483,9 @@ void
 ao_sleep(void *wchan)
 {
        if (wchan == &ao_data_head) {
-               char            type;
-               uint16_t        tick;
-               uint16_t        a, b;
-               int             ret;
+               char            type = 0;
+               uint16_t        tick = 0;
+               uint16_t        a = 0, b = 0;
                uint8_t         bytes[1024];
                union ao_telemetry_all  telem;
                char            line[1024];
@@ -676,13 +681,15 @@ ao_dump_state(void)
 static const struct option options[] = {
        { .name = "summary", .has_arg = 0, .val = 's' },
        { .name = "debug", .has_arg = 0, .val = 'd' },
+       { .name = "info", .has_arg = 1, .val = 'i' },
        { 0, 0, 0, 0},
 };
 
-void run_flight_fixed(char *name, FILE *f, int summary)
+void run_flight_fixed(char *name, FILE *f, int summary, char *info)
 {
        emulator_name = name;
        emulator_in = f;
+       emulator_info = info;
        ao_summary = summary;
        ao_flight_init();
        ao_flight();
@@ -694,13 +701,14 @@ main (int argc, char **argv)
        int     summary = 0;
        int     c;
        int     i;
+       char    *info = NULL;
 
 #if HAS_ACCEL
        emulator_app="full";
 #else
        emulator_app="baro";
 #endif
-       while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
+       while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
                switch (c) {
                case 's':
                        summary = 1;
@@ -708,11 +716,14 @@ main (int argc, char **argv)
                case 'd':
                        ao_flight_debug = 1;
                        break;
+               case 'i':
+                       info = optarg;
+                       break;
                }
        }
 
        if (optind == argc)
-               run_flight_fixed("<stdin>", stdin, summary);
+               run_flight_fixed("<stdin>", stdin, summary, info);
        else
                for (i = optind; i < argc; i++) {
                        FILE    *f = fopen(argv[i], "r");
@@ -720,7 +731,8 @@ main (int argc, char **argv)
                                perror(argv[i]);
                                continue;
                        }
-                       run_flight_fixed(argv[i], f, summary);
+                       run_flight_fixed(argv[i], f, summary, info);
                        fclose(f);
                }
+       exit(0);
 }