altos/test: Compute and show height error tracker in ao_flight_test

Enable the computation of ao_error_h_sq_avg in ao_flight_test even
when an accelerometer is present to allow review of that data.

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

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index ac41085df8166db526d26c0d5a95f5f750360056..e4cc6d4b9f73676fbc93b750ececfad91b2ed332 100644 (file)
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -45,7 +45,11 @@ static __pdata ao_k_t                ao_avg_height_scaled;
 __xdata ao_v_t                 ao_avg_height;
 
 __pdata ao_v_t                 ao_error_h;
-#if !HAS_ACCEL
+#if !HAS_ACCEL || AO_FLIGHT_TEST
+#define AO_ERROR_H_SQ_AVG      1
+#endif
+
+#if AO_ERROR_H_SQ_AVG
 __pdata ao_v_t                 ao_error_h_sq_avg;
 #endif
 
@@ -85,7 +89,7 @@ ao_kalman_predict(void)
 static void
 ao_kalman_err_height(void)
 {
-#if !HAS_ACCEL
+#if AO_ERROR_H_SQ_AVG
        ao_v_t  e;
 #endif
        ao_v_t height_distrust;
@@ -95,7 +99,7 @@ ao_kalman_err_height(void)
 
        ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
 
-#if !HAS_ACCEL
+#if AO_ERROR_H_SQ_AVG
        e = ao_error_h;
        if (e < 0)
                e = -e;

diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 8fe3b5df466e6b9ee858bcfd10bf58ebd9878db1..746a681463ab4d2238f3f457c3470b9e15fcc07b 100644 (file)
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -305,7 +305,7 @@ struct ao_task {
 #define AO_MS_TO_TICKS(ms)     ((ms) / 10)
 #define AO_SEC_TO_TICKS(s)     ((s) * 100)
 
-#define AO_FLIGHT_TEST
+#define AO_FLIGHT_TEST 1
 
 int    ao_flight_debug;
 
@@ -438,10 +438,6 @@ static uint16_t    pyros_fired;
 static struct ao_mpu6000_sample        ao_ground_mpu6000;
 #endif
 
-#if HAS_ACCEL
-int ao_error_h_sq_avg;
-#endif
-
 void
 ao_test_exit(void)
 {