From d779d8e5b1106aaec6170761e6f5bd4e8d5ac6e7 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 9 Jun 2020 11:48:17 -0700 Subject: [PATCH] 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 --- src/kernel/ao_flight.c | 7 +++++++ src/kernel/ao_sample.c | 5 ++++- 2 files changed, 11 insertions(+), 1 deletion(-) 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(); -- 2.30.2