altos: Add orientation test when HAS_FLIGHT_DEBUG is set

This just dumps the current orientation to stdout so you can monitor
it in real time

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

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 240b348a999e7207963d7274d38a01d0719490a7..4a53bdc672f7af22deb6c94a0fcfb2b2581e14d5 100644 (file)
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -364,6 +364,18 @@ 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;
                }
@@ -414,8 +426,17 @@ 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;
+}
+
 __code struct ao_cmds ao_flight_cmds[] = {
        { ao_flight_dump,       "F\0Dump flight status" },
+       { ao_gyro_test,         "G\0Test gyro code" },
        { 0, NULL },
 };
 #endif

diff --git a/src/core/ao_flight.h b/src/core/ao_flight.h
index b80202f0d7b3e2a6716c91e84f928ec72ee00c77..ac3e9cfb56ab40a4b14fa076f92097a57f12f895 100644 (file)
--- a/src/core/ao_flight.h
+++ b/src/core/ao_flight.h
@@ -33,7 +33,8 @@ enum ao_flight_state {
        ao_flight_drogue = 6,
        ao_flight_main = 7,
        ao_flight_landed = 8,
-       ao_flight_invalid = 9
+       ao_flight_invalid = 9,
+       ao_flight_test = 10
 };
 
 extern __pdata enum ao_flight_state    ao_flight_state;