X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_companion.c;h=0ebe8429124966790244e0a2fa5083782a0525a6;hp=a3167956fd9ca25d464a42426e570e214e9dd7f1;hb=6fa1ec0dbf2a4eda8d061c67b3779b83b88f29f0;hpb=0cfd22baa6af44e053428c30c1a95cf5551b68af

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index a3167956..0ebe8429 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -53,6 +53,10 @@ ao_companion_send_command(uint8_t command)
 	ao_companion_command.tick = ao_time();
 	ao_companion_command.serial = ao_serial_number;
 	ao_companion_command.flight = ao_flight_number;
+	ao_companion_command.accel = ao_accel;
+	ao_companion_command.speed = ao_speed;
+	ao_companion_command.height = ao_height;
+	ao_companion_command.motor_number = ao_motor_number;
 	ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
 }
 
@@ -64,7 +68,7 @@ ao_companion_get_setup(void)
 	ao_spi_recv(&ao_companion_setup, sizeof (ao_companion_setup), AO_COMPANION_SPI_BUS);
 	COMPANION_DESELECT();
 	return (ao_companion_setup.board_id ==
-		~ao_companion_setup.board_id_inverse);
+		(uint16_t) ~ao_companion_setup.board_id_inverse);
 }
 
 static void
@@ -112,10 +116,15 @@ ao_companion_status(void) __reentrant
 {
 	uint8_t	i;
 	printf("Companion running: %d\n", ao_companion_running);
-	printf("device: %d\n", ao_companion_setup.board_id);
-	printf("update period: %d\n", ao_companion_setup.update_period);
-	printf("channels: %d\n", ao_companion_setup.channels);
-	printf("data:");
+	if (!ao_companion_running)
+		return;
+	printf("device: %d\n"
+	       "update period: %d\n"
+	       "channels: %d\n"
+	       "data:",
+	       ao_companion_setup.board_id,
+	       ao_companion_setup.update_period,
+	       ao_companion_setup.channels);
 	for(i = 0; i < ao_companion_setup.channels; i++)
 		printf(" %5u", ao_companion_data[i]);
 	printf("\n");