X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_flight.c;h=702c340385177df203a000494ad7fef49c190a88;hp=aac6880db1260d6dea90a4ce47cd5319e6e1d0f4;hb=cc06242e882cba462791962c199b7c89e79adc65;hpb=755082d36231c1b247bc0e1f13919dd9b5c362a8

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index aac6880d..702c3403 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -401,7 +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");
@@ -443,9 +443,18 @@ ao_gyro_test(void)
 	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