From 82323e51d2372e559604545673c90dceb920f12d Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 19 Sep 2021 16:28:22 -0700 Subject: [PATCH 1/1] altos: Fix up HAS_FLIGHT_DEBUG Some printf formats weren't right. Signed-off-by: Keith Packard --- src/kernel/ao_flight.c | 21 +++++++++++---------- src/kernel/ao_sample.c | 6 ++++-- 2 files changed, 15 insertions(+), 12 deletions(-) diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c index 3c1067cb..4a7055c4 100644 --- a/src/kernel/ao_flight.c +++ b/src/kernel/ao_flight.c @@ -461,7 +461,7 @@ ao_flight(void) #if HAS_FLIGHT_DEBUG case ao_flight_test: #if HAS_GYRO - printf ("angle %4d pitch %7d yaw %7d roll %7d\n", + printf ("angle %4d pitch %7ld yaw %7ld roll %7ld\n", ao_sample_orient, ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9, ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9, @@ -492,14 +492,14 @@ 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); + printf (" raw pres %ld\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); + printf (" ground pres %ld\n", ao_ground_pres); + printf (" ground alt %ld\n", ao_ground_height); #endif #if HAS_ACCEL printf (" raw accel %d\n", ao_sample_accel); @@ -508,8 +508,8 @@ ao_flight_dump(void) #endif #if HAS_BARO - printf (" alt %d\n", ao_sample_alt); - printf (" height %d\n", ao_sample_height); + printf (" alt %ld\n", ao_sample_alt); + printf (" height %ld\n", ao_sample_height); #endif #if HAS_ACCEL @@ -518,12 +518,12 @@ ao_flight_dump(void) printf ("kalman:\n"); - printf (" height %d\n", ao_height); + printf (" height %ld\n", ao_height); printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed)); printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel)); - printf (" max_height %d\n", ao_max_height); - printf (" avg_height %d\n", ao_avg_height); - printf (" error_h %d\n", ao_error_h); + printf (" max_height %ld\n", ao_max_height); + printf (" avg_height %ld\n", ao_avg_height); + printf (" error_h %ld\n", ao_error_h); #if !HAS_ACCEL printf (" error_avg %d\n", ao_error_h_sq_avg); #endif @@ -543,6 +543,7 @@ static void ao_orient_test_select(void) { ao_orient_test = !ao_orient_test; + printf("orient test %d\n", ao_orient_test); } const struct ao_cmds ao_flight_cmds[] = { diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c index 2c77c369..9ddbfd8e 100644 --- a/src/kernel/ao_sample.c +++ b/src/kernel/ao_sample.c @@ -252,11 +252,13 @@ ao_sample_preflight_set(void) */ ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient); #if HAS_FLIGHT_DEBUG - if (ao_orient_test) + if (ao_orient_test) { 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)); + fflush(stdout); + } #endif ao_sample_compute_orient(); @@ -266,7 +268,6 @@ ao_sample_preflight_set(void) } #if HAS_GYRO - #define TIME_DIV 200.0f static void @@ -295,6 +296,7 @@ ao_sample_rotate(void) (int) (y * 1000), (int) (z * 1000), ao_sample_orient); + fflush(stdout); } #endif ao_sample_compute_orient(); -- 2.30.2