altos: Fix HAS_FLIGHT_DEBUG for easytimer

Remove baro-specific bits of the debug output when
there's no barometer.

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

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index afee1de710935b00c6a75e3b3f2498beb23be6a8..c5069158a61cc603914566a4917608a54a300be3 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -491,20 +491,27 @@ ao_flight_dump(void)
 
        printf ("sample:\n");
        printf ("  tick        %d\n", ao_sample_tick);
 
        printf ("sample:\n");
        printf ("  tick        %d\n", ao_sample_tick);

+#if HAS_BARO

        printf ("  raw pres    %d\n", ao_sample_pres);
        printf ("  raw pres    %d\n", ao_sample_pres);

+#endif

 #if HAS_ACCEL
        printf ("  raw accel   %d\n", ao_sample_accel);
 #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);
        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_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);
        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
 #if HAS_ACCEL
        printf ("  accel       %d.%02d\n", int_part(accel), frac_part(accel));
 #endif

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 391188c52974260f5933d8058bfc51de7ce4f25c..67f20aff9093b5941a3ccee9ffc5e6e752f96479 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -225,7 +225,10 @@ ao_sample_preflight_set(void)
        ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
 #if HAS_FLIGHT_DEBUG
        if (ao_orient_test)
        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();
 #endif 
 
        ao_sample_compute_orient();