From 1e56ed44e562f808addfd76bfb352f981db94094 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 6 Mar 2011 21:59:08 -0800
Subject: [PATCH] altos/test: Add baro-only flight test program

This builds the flight code in baro-only mode for testing.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/ao_flight_test.c | 10 +++++++++-
 src/test/Makefile    |  7 +++++--
 2 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c
index 70888d34..a635803f 100644
--- a/src/ao_flight_test.c
+++ b/src/ao_flight_test.c
@@ -72,6 +72,7 @@ uint8_t ao_adc_head;
 #define ao_telemetry_set_interval(x)
 #define ao_rdf_set(rdf)
 #define ao_packet_slave_start()
+#define ao_packet_slave_stop()
 
 enum ao_igniter {
 	ao_igniter_drogue = 0,
@@ -138,8 +139,8 @@ struct ao_config ao_config;
 #define HAS_GPS 1
 #ifndef HAS_ACCEL
 #define HAS_ACCEL 1
-#endif
 #define HAS_ACCEL_REF 0
+#endif
 
 #include "ao_flight.c"
 
@@ -268,12 +269,19 @@ ao_dump_state(void)
 {
 	if (ao_flight_state == ao_flight_startup)
 		return;
+#if HAS_ACCEL
 	printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
 		ao_state_names[ao_flight_state],
 		(ao_ground_accel - ao_flight_accel) / COUNTS_PER_G * GRAVITY,
 		(double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
 		ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
 		ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
+#else
+	printf ("\t\t\t\t\t%s alt %d main %d\n",
+		ao_state_names[ao_flight_state],
+		ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
+		ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
+#endif
 	if (ao_flight_state == ao_flight_landed)
 		exit(0);
 }
diff --git a/src/test/Makefile b/src/test/Makefile
index cd9cafc8..853713fa 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,6 +1,6 @@
 vpath % ..
 
-PROGS=ao_flight_test ao_gps_test ao_gps_test_skytraq ao_convert_test
+PROGS=ao_flight_test ao_flight_test_baro ao_gps_test ao_gps_test_skytraq ao_convert_test
 
 CFLAGS=-I.. -I.
 
@@ -11,9 +11,12 @@ clean:
 
 install:
 
-ao_flight_test: ao_flight_test.c ao_flight_test.c ao_host.h ao_flight.c altitude.h
+ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c altitude.h
 	cc -g -o $@ $<
 
+ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c altitude.h
+	cc -g -o $@ -DHAS_ACCEL=0 ../ao_flight_test.c
+
 ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h
 	cc -g -o $@ $<
 
-- 
2.30.2