X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Ftest%2Fao_flight_test.c;h=1ee3ad2756fd9d79cf0d8ea28c656be5f3f2ba15;hp=0abb4090d397e0a615ea1ca31a00288f7057d5a5;hb=3d5db24708b37d86eac187169e2553a408dfeb83;hpb=cdb32b1717db4e8cb8cf94d810e74ce2b569566b

diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 0abb4090..1ee3ad27 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -309,7 +309,7 @@ struct ao_cmds {
 #if TELEMEGA
 #include "ao_convert_pa.c"
 #include <ao_ms5607.h>
-struct ao_ms5607_prom	ms5607_prom;
+struct ao_ms5607_prom	ao_ms5607_prom;
 #include "ao_ms5607_convert.c"
 #define AO_PYRO_NUM	4
 #include <ao_pyro.h>
@@ -732,6 +732,18 @@ ao_sleep(void *wchan)
 					ao_flight_started = 1;
 					ao_ground_pres = int32(bytes, 4);
 					ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
+					ao_ground_accel_along = int16(bytes, 8);
+					ao_ground_accel_across = int16(bytes, 10);
+					ao_ground_accel_through = int16(bytes, 12);
+					ao_ground_roll = int16(bytes, 14);
+					ao_ground_pitch = int16(bytes, 16);
+					ao_ground_yaw = int16(bytes, 18);
+					ao_ground_mpu6000.accel_x = ao_ground_accel_across;
+					ao_ground_mpu6000.accel_y = ao_ground_accel_along;
+					ao_ground_mpu6000.accel_z = ao_ground_accel_through;
+					ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
+					ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
+					ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
 					break;
 				case 'A':
 					ao_data_static.tick = tick;
@@ -768,21 +780,21 @@ ao_sleep(void *wchan)
 				continue;
 			} else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 				if (strcmp(words[1], "reserved:") == 0)
-					ms5607_prom.reserved = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "sens:") == 0)
-					ms5607_prom.sens = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "off:") == 0)
-					ms5607_prom.off = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "tcs:") == 0)
-					ms5607_prom.tcs = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "tco:") == 0)
-					ms5607_prom.tco = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "tref:") == 0)
-					ms5607_prom.tref = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "tempsens:") == 0)
-					ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 				else if (strcmp(words[1], "crc:") == 0)
-					ms5607_prom.crc = strtoul(words[2], NULL, 10);
+					ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 				continue;
 			} else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
 				int	p = strtoul(words[1], NULL, 10);
@@ -791,7 +803,7 @@ ao_sleep(void *wchan)
 
 				for (i = 2; i < nword; i++) {
 					for (j = 0; j < NUM_PYRO_VALUES; j++)
-						if (!strcmp (words[2], ao_pyro_values[j].name))
+						if (!strcmp (words[i], ao_pyro_values[j].name))
 							break;
 					if (j == NUM_PYRO_VALUES)
 						continue;