From 262fff1031dd85d3b40eb8bc4d446359a5d30d92 Mon Sep 17 00:00:00 2001
From: Wolfgang Hoenig <whoenig@usc.edu>
Date: Mon, 25 Mar 2019 13:30:18 -0700
Subject: [PATCH] Add status messages in stabilizer for sensor calibration

This helps debug cases where the CF is not taking off, because
the sensors were not (yet) successfully calibrated without the need
of analyzing the blinking pattern of the LEDs.
---
 src/modules/src/stabilizer.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/modules/src/stabilizer.c b/src/modules/src/stabilizer.c
index 28d42ef260..6963c774fa 100644
--- a/src/modules/src/stabilizer.c
+++ b/src/modules/src/stabilizer.c
@@ -141,6 +141,8 @@ static void stabilizerTask(void* param)
   //Wait for the system to be fully started to start stabilization loop
   systemWaitStart();
 
+  DEBUG_PRINT("Wait for sensor calibration...\n");
+
   // Wait for sensors to be calibrated
   lastWakeTime = xTaskGetTickCount ();
   while(!sensorsAreCalibrated()) {
@@ -149,6 +151,8 @@ static void stabilizerTask(void* param)
   // Initialize tick to something else then 0
   tick = 1;
 
+  DEBUG_PRINT("Ready to fly.\n");
+
   while(1) {
     // The sensor should unlock at 1kHz
     sensorsWaitDataReady();