X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_tracker.c;h=1454c17c31815aadd08c9d060f10a81cacf78711;hb=cdaa0d7b272505c49017f409b7c0b8e3240608f0;hp=962f145d39a4b0e21ae6b27017fdc1348a6b92a7;hpb=211cb482e4da04dc032432abc236ef8b5a5e732f;p=fw%2Faltos

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index 962f145d..1454c17c 100644
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -29,7 +30,7 @@ static uint8_t		ao_tracker_force_telem;
 static inline uint8_t
 ao_usb_connected(void)
 {
-	return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0;
+	return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN) != 0;
 }
 #else
 #define ao_usb_connected()	1
@@ -163,6 +164,25 @@ ao_tracker(void)
 	}
 }
 
+#ifdef AO_LED_GPS_LOCK
+
+static struct ao_task ao_gps_lock_task;
+
+static void
+ao_gps_lock(void)
+{
+	for (;;) {
+		if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+		    (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+		{
+			ao_led_for(AO_LED_GPS_LOCK, AO_MS_TO_TICKS(20));
+		}
+		ao_delay(AO_SEC_TO_TICKS(3));
+	}
+}
+#endif
+
+
 static uint8_t erasing_current;
 
 void
@@ -191,9 +211,9 @@ static struct ao_task ao_tracker_task;
 static void
 ao_tracker_set_telem(void)
 {
-	ao_cmd_hex();
+	uint16_t r = ao_cmd_hex();
 	if (ao_cmd_status == ao_cmd_success)
-		ao_tracker_force_telem = ao_cmd_lex_i;
+		ao_tracker_force_telem = r;
 	ao_cmd_status = ao_cmd_success;
 	printf ("flight: %d\n", ao_flight_number);
 	printf ("force_telem: %d\n", ao_tracker_force_telem);
@@ -221,4 +241,7 @@ ao_tracker_init(void)
 #endif
 	ao_cmd_register(&ao_tracker_cmds[0]);
 	ao_add_task(&ao_tracker_task, ao_tracker, "tracker");
+#ifdef AO_LED_GPS_LOCK
+	ao_add_task(&ao_gps_lock_task, ao_gps_lock, "gps lock");
+#endif
 }