altos: Separate out ao_tracker force from dbg

Allow enabling telemetry when USB is connected without also enabling
the motion debugging output.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index 9b007af82109defdc752e56cfcd375a374c5b1e6..962f145d39a4b0e21ae6b27017fdc1348a6b92a7 100644 (file)
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -132,7 +132,7 @@ ao_tracker(void)
                                        if (height < 0)
                                                height = -height;
 
-                                       if (ao_tracker_force_telem)
+                                       if (ao_tracker_force_telem > 1)
                                                printf("head %d ring %d ground_distance %d height %d\n", gps_head, ring, ground_distance, height);
                                        if (ground_distance > ao_config.tracker_motion ||
                                            height > (ao_config.tracker_motion << 1))
@@ -141,7 +141,7 @@ ao_tracker(void)
                                                break;
                                        }
                                }
-                               if (ao_tracker_force_telem) {
+                               if (ao_tracker_force_telem > 1) {
                                        printf ("moving %d started %d\n", moving, log_started);
                                        flush();
                                }
@@ -191,11 +191,9 @@ static struct ao_task ao_tracker_task;
 static void
 ao_tracker_set_telem(void)
 {
-       uint8_t telem;
        ao_cmd_hex();
-       telem = ao_cmd_lex_i;
        if (ao_cmd_status == ao_cmd_success)
-               ao_tracker_force_telem = telem;
+               ao_tracker_force_telem = ao_cmd_lex_i;
        ao_cmd_status = ao_cmd_success;
        printf ("flight: %d\n", ao_flight_number);
        printf ("force_telem: %d\n", ao_tracker_force_telem);
@@ -211,7 +209,7 @@ ao_tracker_set_telem(void)
 }
 
 static const struct ao_cmds ao_tracker_cmds[] = {
-       { ao_tracker_set_telem, "t <d>\0Set telem on USB" },
+       { ao_tracker_set_telem, "t <d>\0Set telem on USB (0 off, 1 on, 2 dbg)" },
        { 0, NULL },
 };