From: Keith Packard <keithp@keithp.com>
Date: Tue, 9 Jun 2020 18:48:17 +0000 (-0700)
Subject: altos: Fix HAS_FLIGHT_DEBUG for easytimer
X-Git-Tag: 1.9.3~1^2~12
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=d779d8e5b1106aaec6170761e6f5bd4e8d5ac6e7

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 afee1de7..c5069158 100644
--- 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);
+#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
diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 391188c5..67f20aff 100644
--- 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)
-		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();