X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_flight.c;h=702c340385177df203a000494ad7fef49c190a88;hp=240b348a999e7207963d7274d38a01d0719490a7;hb=cc06242e882cba462791962c199b7c89e79adc65;hpb=08143a922fe27bc50a19924f46538f9476ab5fd1

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 240b348a..702c3403 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -46,6 +46,11 @@ __pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
 __pdata uint16_t		ao_boost_tick;		/* time of launch detect */
 __pdata uint16_t		ao_motor_number;	/* number of motors burned so far */
 
+#if HAS_SENSOR_ERRORS
+/* Any sensor can set this to mark the flight computer as 'broken' */
+__xdata uint8_t			ao_sensor_errors;
+#endif
+
 /*
  * track min/max data over a long interval to detect
  * resting
@@ -144,7 +149,11 @@ ao_flight(void)
 #endif
 			} else {
 				/* Set idle mode */
- 				ao_flight_state = ao_flight_idle;
+				ao_flight_state = ao_flight_idle;
+#if HAS_SENSOR_ERRORS
+				if (ao_sensor_errors)
+					ao_flight_state = ao_flight_invalid;
+#endif
  
 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
 				/* Turn on packet system in idle mode on TeleMetrum */
@@ -364,6 +373,18 @@ ao_flight(void)
 				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 			}
 			break;
+#if HAS_FLIGHT_DEBUG
+		case ao_flight_test:
+#if HAS_GYRO
+			printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
+				ao_sample_orient,
+				((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
+				((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
+				((ao_sample_roll << 9) - ao_ground_roll) >> 9);
+#endif
+			flush();
+			break;
+#endif /* HAS_FLIGHT_DEBUG */
 		default:
 			break;
 		}
@@ -380,7 +401,7 @@ ao_flight_dump(void)
 #if HAS_ACCEL
 	int16_t	accel;
 
-	accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16;
+	accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
 #endif
 
 	printf ("sample:\n");
@@ -414,8 +435,26 @@ ao_flight_dump(void)
 	printf ("  error_avg   %d\n", ao_error_h_sq_avg);
 }
 
+static void
+ao_gyro_test(void)
+{
+	ao_flight_state = ao_flight_test;
+	ao_getchar();
+	ao_flight_state = ao_flight_idle;
+}
+
+uint8_t ao_orient_test;
+
+static void
+ao_orient_test_select(void)
+{
+	ao_orient_test = !ao_orient_test;
+}
+
 __code struct ao_cmds ao_flight_cmds[] = {
 	{ ao_flight_dump, 	"F\0Dump flight status" },
+	{ ao_gyro_test,		"G\0Test gyro code" },
+	{ ao_orient_test_select,"O\0Test orientation code" },
 	{ 0, NULL },
 };
 #endif