From 9b0ce8ca65d76b9cf55dfff002e13ce2fbb5f7fc Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sun, 27 Oct 2013 23:45:48 -0700
Subject: [PATCH] altos: Add orientation test when HAS_FLIGHT_DEBUG is set

This just dumps the current orientation to stdout so you can monitor
it in real time

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/core/ao_flight.c | 21 +++++++++++++++++++++
 src/core/ao_flight.h |  3 ++-
 2 files changed, 23 insertions(+), 1 deletion(-)

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 240b348a..4a53bdc6 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -364,6 +364,18 @@ ao_flight(void)
 				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 			}
 			break;
+#if HAS_FLIGHT_DEBUG
+		case ao_flight_test:
+#if HAS_GYRO
+			printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
+				ao_sample_orient,
+				((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
+				((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
+				((ao_sample_roll << 9) - ao_ground_roll) >> 9);
+#endif
+			flush();
+			break;
+#endif /* HAS_FLIGHT_DEBUG */
 		default:
 			break;
 		}
@@ -414,8 +426,17 @@ ao_flight_dump(void)
 	printf ("  error_avg   %d\n", ao_error_h_sq_avg);
 }
 
+static void
+ao_gyro_test(void)
+{
+	ao_flight_state = ao_flight_test;
+	ao_getchar();
+	ao_flight_state = ao_flight_idle;
+}
+
 __code struct ao_cmds ao_flight_cmds[] = {
 	{ ao_flight_dump, 	"F\0Dump flight status" },
+	{ ao_gyro_test,		"G\0Test gyro code" },
 	{ 0, NULL },
 };
 #endif
diff --git a/src/core/ao_flight.h b/src/core/ao_flight.h
index b80202f0..ac3e9cfb 100644
--- a/src/core/ao_flight.h
+++ b/src/core/ao_flight.h
@@ -33,7 +33,8 @@ enum ao_flight_state {
 	ao_flight_drogue = 6,
 	ao_flight_main = 7,
 	ao_flight_landed = 8,
-	ao_flight_invalid = 9
+	ao_flight_invalid = 9,
+	ao_flight_test = 10
 };
 
 extern __pdata enum ao_flight_state	ao_flight_state;
-- 
2.30.2