printf ("sample:\n");
printf (" tick %d\n", ao_sample_tick);
+#if HAS_BARO
printf (" raw pres %d\n", ao_sample_pres);
+#endif
#if HAS_ACCEL
printf (" raw accel %d\n", ao_sample_accel);
#endif
+#if HAS_BARO
printf (" ground pres %d\n", ao_ground_pres);
printf (" ground alt %d\n", ao_ground_height);
+#endif
#if HAS_ACCEL
printf (" raw accel %d\n", ao_sample_accel);
printf (" groundaccel %d\n", ao_ground_accel);
printf (" accel_2g %d\n", ao_accel_2g);
#endif
+#if HAS_BARO
printf (" alt %d\n", ao_sample_alt);
printf (" height %d\n", ao_sample_height);
+#endif
+
#if HAS_ACCEL
printf (" accel %d.%02d\n", int_part(accel), frac_part(accel));
#endif
ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
#if HAS_FLIGHT_DEBUG
if (ao_orient_test)
- printf("\n\treset\n");
+ printf("\n\treset across %d through %d along %d\n",
+ (ao_ground_accel_across - ao_config.accel_zero_across),
+ (ao_ground_accel_through - ao_config.accel_zero_through),
+ (ao_ground_accel_along - ao_config.accel_zero_along));
#endif
ao_sample_compute_orient();