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altos: Enable debugging of accel-only speed management
author
Keith Packard
<keithp@keithp.com>
Wed, 14 Oct 2020 17:37:36 +0000
(10:37 -0700)
committer
Keith Packard
<keithp@keithp.com>
Wed, 14 Oct 2020 17:37:36 +0000
(10:37 -0700)
Signed-off-by: Keith Packard <keithp@keithp.com>
src/kernel/ao_flight.c
patch
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diff --git
a/src/kernel/ao_flight.c
b/src/kernel/ao_flight.c
index 10f6eb204a5da75a8ed0698b9c740c6af1adbf30..a81b9c652c1265ca8f25ed2f228734caa525246d 100644
(file)
--- a/
src/kernel/ao_flight.c
+++ b/
src/kernel/ao_flight.c
@@
-102,13
+102,8
@@
uint8_t ao_flight_force_idle;
#define abs(a) ((a) < 0 ? -(a) : (a))
#define abs(a) ((a) < 0 ? -(a) : (a))
-#if 0
-static bool accel_plus_g_failed;
-static bool accel_minus_g_failed;
-static bool accel_plus_failed;
-static bool accel_minus_failed;
-
-static char *btos(bool x) { return x? "true" : "false"; }
+#if !HAS_BARO
+#define DEBUG_ACCEL_ONLY 1
#endif
void
#endif
void
@@
-144,16
+139,6
@@
ao_flight(void)
#endif
)
{
#endif
)
{
-#if 0
- if (ao_config.accel_plus_g == 0)
- accel_plus_g_failed = true;
- if (ao_config.accel_minus_g == 0)
- accel_minus_g_failed = true;
- if (ao_ground_accel < (accel_t) ao_config.accel_plus_g - ACCEL_NOSE_UP)
- accel_plus_failed = true;
- if (ao_ground_accel > (accel_t) ao_config.accel_minus_g + ACCEL_NOSE_UP)
- accel_minus_failed = true;
-#endif
/* Detected an accel value outside -1.5g to 1.5g
* (or uncalibrated values), so we go into invalid mode
*/
/* Detected an accel value outside -1.5g to 1.5g
* (or uncalibrated values), so we go into invalid mode
*/
@@
-220,21
+205,11
@@
ao_flight(void)
break;
break;
-#if
0
+#if
DEBUG_ACCEL_ONLY
case ao_flight_invalid:
case ao_flight_invalid:
- printf("+g? %s -g? %s +? %s -? %s +g %d -g %d ga %d +g-NU %d -g+NU %d\n",
- btos(accel_plus_g_failed),
- btos(accel_minus_g_failed),
- btos(accel_plus_failed),
- btos(accel_minus_failed),
- ao_config.accel_plus_g,
- ao_config.accel_minus_g,
- ao_ground_accel,
- ao_config.accel_plus_g - ACCEL_NOSE_UP,
- ao_config.accel_minus_g + ACCEL_NOSE_UP);
- break;
case ao_flight_idle:
case ao_flight_idle:
- printf("+g %d ga %d sa %d accel %ld speed %ld\n", ao_config.accel_plus_g, ao_ground_accel, ao_sample_accel, ao_accel, ao_speed);
+ printf("+g %d ga %d sa %d accel %ld speed %ld\n",
+ ao_config.accel_plus_g, ao_ground_accel, ao_sample_accel, ao_accel, ao_speed);
break;
#endif
break;
#endif