From 880b7418fd4cf3461901cb83529d3260aa32d6f7 Mon Sep 17 00:00:00 2001
From: "timecop@gmail.com"
 <timecop@gmail.com@7c89a4a9-59b9-e629-4cfe-3a2d53b20e61>
Date: Sun, 7 Apr 2013 09:24:31 +0000
Subject: [PATCH] fixed bug with telemetry/powermeter labels in CLI - wasn't
 synced with enum properly. baro altitude telemetry fix.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@301 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
---
 src/cli.c       |  2 +-
 src/mw.c        | 11 +++++------
 src/telemetry.c |  4 ++--
 3 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/src/cli.c b/src/cli.c
index d8aa3f0b5..d0d28df0f 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -44,7 +44,7 @@ const char * const mixerNames[] = {
 const char * const featureNames[] = {
     "PPM", "VBAT", "INFLIGHT_ACC_CAL", "SPEKTRUM", "MOTOR_STOP",
     "SERVO_TILT", "GYRO_SMOOTHING", "LED_RING", "GPS",
-    "FAILSAFE", "SONAR", "TELEMETRY", "VARIO",
+    "FAILSAFE", "SONAR", "TELEMETRY", "POWERMETER", "VARIO",
     NULL
 };
 
diff --git a/src/mw.c b/src/mw.c
index 9156154a3..a2b172cf5 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -275,12 +275,13 @@ void loop(void)
     uint8_t stTmp = 0;
     uint8_t axis, i;
     int16_t error, errorAngle;
-    int16_t delta, deltaSum;
     int16_t PTerm, ITerm, PTermACC, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
-    static int16_t lastGyro[3] = { 0, 0, 0 };
-    static int16_t delta1[3], delta2[3];
     static int16_t errorGyroI[3] = { 0, 0, 0 };
     static int16_t errorAngleI[2] = { 0, 0 };
+    int16_t delta;
+    static int16_t lastGyro[3] = { 0, 0, 0 };
+    static int16_t delta1[3], delta2[3];
+    int16_t deltaSum;
     static uint32_t rcTime = 0;
     static int16_t initialThrottleHold;
     static uint32_t loopTime;
@@ -697,7 +698,7 @@ void loop(void)
             }
         }
 
-        // **** PITCH & ROLL & YAW PID ****    
+        // **** PITCH & ROLL & YAW PID ****
         prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500]
         for (axis = 0; axis < 3; axis++) {
             if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2) { // MODE relying on ACC
@@ -734,13 +735,11 @@ void loop(void)
             }
 
             PTerm -= (int32_t)gyroData[axis] * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
-
             delta = gyroData[axis] - lastGyro[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
             lastGyro[axis] = gyroData[axis];
             deltaSum = delta1[axis] + delta2[axis] + delta;
             delta2[axis] = delta1[axis];
             delta1[axis] = delta;
-
             DTerm = ((int32_t)deltaSum * dynD8[axis]) >> 5; // 32 bits is needed for calculation
             axisPID[axis] =  PTerm + ITerm - DTerm;
         }
diff --git a/src/telemetry.c b/src/telemetry.c
index 31be61c95..582ca6c89 100644
--- a/src/telemetry.c
+++ b/src/telemetry.c
@@ -95,9 +95,9 @@ static void sendAccel(void)
 static void sendBaro(void)
 {
     sendDataHead(ID_ALTITUDE_BP);
-    serialize16(EstAlt / 100);
+    serialize16(BaroAlt / 100);
     sendDataHead(ID_ALTITUDE_AP);
-    serialize16(EstAlt % 100);
+    serialize16(BaroAlt % 100);
 }
 
 static void sendTemperature1(void)