diff options
Diffstat (limited to 'src/test/ao_flight_test.c')
| -rw-r--r-- | src/test/ao_flight_test.c | 14 |
1 files changed, 13 insertions, 1 deletions
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index 0abb4090..3995d98d 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -732,6 +732,18 @@ ao_sleep(void *wchan) ao_flight_started = 1; ao_ground_pres = int32(bytes, 4); ao_ground_height = ao_pa_to_altitude(ao_ground_pres); + ao_ground_accel_along = int16(bytes, 8); + ao_ground_accel_across = int16(bytes, 10); + ao_ground_accel_through = int16(bytes, 12); + ao_ground_roll = int16(bytes, 14); + ao_ground_pitch = int16(bytes, 16); + ao_ground_yaw = int16(bytes, 18); + ao_ground_mpu6000.accel_x = ao_ground_accel_across; + ao_ground_mpu6000.accel_y = ao_ground_accel_along; + ao_ground_mpu6000.accel_z = ao_ground_accel_through; + ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9; + ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9; + ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9; break; case 'A': ao_data_static.tick = tick; @@ -791,7 +803,7 @@ ao_sleep(void *wchan) for (i = 2; i < nword; i++) { for (j = 0; j < NUM_PYRO_VALUES; j++) - if (!strcmp (words[2], ao_pyro_values[j].name)) + if (!strcmp (words[i], ao_pyro_values[j].name)) break; if (j == NUM_PYRO_VALUES) continue; |