From: Keith Packard <keithp@keithp.com>
Date: Mon, 2 Jul 2018 21:21:48 +0000 (-0700)
Subject: altos/test: Compute and show height error tracker in ao_flight_test
X-Git-Tag: 1.8.6~1^2~16
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=e56e1dc20b3bf18073766da4e26e97d9e1d419fc

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 ac41085d..e4cc6d4b 100644
--- 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 8fe3b5df..746a6814 100644
--- 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)
 {