altos: Use 32-bits for flight state data (alt/speed/accel)

[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 1ab22e5b6acf4cd5af37d4e98b513b61b68fbb0f..bb5c3a7d86d7618938e05d8795b5f7ef684eca79 100644 (file)
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -34,9 +34,11 @@
 #define ao_data_ring_next(n)   (((n) + 1) & (AO_DATA_RING - 1))
 #define ao_data_ring_prev(n)   (((n) - 1) & (AO_DATA_RING - 1))
 
+#if 0
 #define AO_M_TO_HEIGHT(m)      ((int16_t) (m))
 #define AO_MS_TO_SPEED(ms)     ((int16_t) ((ms) * 16))
 #define AO_MSS_TO_ACCEL(mss)   ((int16_t) ((mss) * 16))
+#endif
 
 #define AO_GPS_NEW_DATA                1
 #define AO_GPS_NEW_TRACKING    2
@@ -93,6 +95,7 @@ struct ao_adc {
 #include <ao_data.h>
 #include <ao_log.h>
 #include <ao_telemetry.h>
+#include <ao_sample.h>
 
 #if TELEMEGA
 int ao_gps_count;
@@ -175,7 +178,7 @@ ao_gps_angle(void)
                        ao_gps_static.latitude / 1e7,
                        ao_gps_static.longitude / 1e7,
                        &dist, &bearing);
-       height = ao_gps_static.altitude - ao_gps_prev.altitude;
+       height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev);
 
        angle = atan2(dist, height);
        return angle * 180/M_PI;
@@ -234,7 +237,7 @@ double      main_time;
 
 int    tick_offset;
 
-static int32_t ao_k_height;
+static ao_k_t  ao_k_height;
 
 int16_t
 ao_time(void)
@@ -756,7 +759,10 @@ ao_sleep(void *wchan)
                                        ao_gps_static.tick = tick;
                                        ao_gps_static.latitude = int32(bytes, 0);
                                        ao_gps_static.longitude = int32(bytes, 4);
-                                       ao_gps_static.altitude = int32(bytes, 8);
+                                       {
+                                               int32_t altitude = int32(bytes, 8);
+                                               AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
+                                       }
                                        ao_gps_static.flags = bytes[13];
                                        if (!ao_gps_count)
                                                ao_gps_first = ao_gps_static;