From d8a3e3301534619f091c5a9b08133d358d0a93f0 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 14 Oct 2020 10:37:36 -0700 Subject: [PATCH] altos: Enable debugging of accel-only speed management Signed-off-by: Keith Packard --- src/kernel/ao_flight.c | 35 +++++------------------------------ 1 file changed, 5 insertions(+), 30 deletions(-) diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c index 10f6eb20..a81b9c65 100644 --- a/src/kernel/ao_flight.c +++ b/src/kernel/ao_flight.c @@ -102,13 +102,8 @@ uint8_t ao_flight_force_idle; #define abs(a) ((a) < 0 ? -(a) : (a)) -#if 0 -static bool accel_plus_g_failed; -static bool accel_minus_g_failed; -static bool accel_plus_failed; -static bool accel_minus_failed; - -static char *btos(bool x) { return x? "true" : "false"; } +#if !HAS_BARO +#define DEBUG_ACCEL_ONLY 1 #endif void @@ -144,16 +139,6 @@ ao_flight(void) #endif ) { -#if 0 - if (ao_config.accel_plus_g == 0) - accel_plus_g_failed = true; - if (ao_config.accel_minus_g == 0) - accel_minus_g_failed = true; - if (ao_ground_accel < (accel_t) ao_config.accel_plus_g - ACCEL_NOSE_UP) - accel_plus_failed = true; - if (ao_ground_accel > (accel_t) ao_config.accel_minus_g + ACCEL_NOSE_UP) - accel_minus_failed = true; -#endif /* Detected an accel value outside -1.5g to 1.5g * (or uncalibrated values), so we go into invalid mode */ @@ -220,21 +205,11 @@ ao_flight(void) break; -#if 0 +#if DEBUG_ACCEL_ONLY case ao_flight_invalid: - printf("+g? %s -g? %s +? %s -? %s +g %d -g %d ga %d +g-NU %d -g+NU %d\n", - btos(accel_plus_g_failed), - btos(accel_minus_g_failed), - btos(accel_plus_failed), - btos(accel_minus_failed), - ao_config.accel_plus_g, - ao_config.accel_minus_g, - ao_ground_accel, - ao_config.accel_plus_g - ACCEL_NOSE_UP, - ao_config.accel_minus_g + ACCEL_NOSE_UP); - break; case ao_flight_idle: - printf("+g %d ga %d sa %d accel %ld speed %ld\n", ao_config.accel_plus_g, ao_ground_accel, ao_sample_accel, ao_accel, ao_speed); + printf("+g %d ga %d sa %d accel %ld speed %ld\n", + ao_config.accel_plus_g, ao_ground_accel, ao_sample_accel, ao_accel, ao_speed); break; #endif -- 2.30.2