X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_flight_nano.c;fp=src%2Fcore%2Fao_flight_nano.c;h=0000000000000000000000000000000000000000;hp=406d81adc5f1cde7d90763dcecfa3f3059114db1;hb=24167015705ae831692b95735968b04a876f935e;hpb=bb9fdef607728cc326a82aa632e59724f272e53b

diff --git a/src/core/ao_flight_nano.c b/src/core/ao_flight_nano.c
deleted file mode 100644
index 406d81ad..00000000
--- a/src/core/ao_flight_nano.c
+++ /dev/null
@@ -1,120 +0,0 @@
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * 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.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-
-/* Main flight thread. */
-
-__pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
-__pdata uint16_t		ao_launch_tick;		/* time of launch detect */
-
-/*
- * track min/max data over a long interval to detect
- * resting
- */
-__pdata uint16_t		ao_interval_end;
-__pdata alt_t			ao_interval_min_height;
-__pdata alt_t			ao_interval_max_height;
-
-__pdata uint8_t			ao_flight_force_idle;
-
-/* Landing is detected by getting constant readings from both pressure and accelerometer
- * for a fairly long time (AO_INTERVAL_TICKS)
- */
-#define AO_INTERVAL_TICKS	AO_SEC_TO_TICKS(5)
-
-static void
-ao_flight_nano(void)
-{
-	ao_sample_init();
-	ao_flight_state = ao_flight_startup;
-
-	for (;;) {
-		/*
-		 * Process ADC samples, just looping
-		 * until the sensors are calibrated.
-		 */
-		if (!ao_sample())
-			continue;
-
-		switch (ao_flight_state) {
-		case ao_flight_startup:
-			if (ao_flight_force_idle) {
-				/* Set idle mode */
-				ao_flight_state = ao_flight_idle;
-			} else {
-				ao_flight_state = ao_flight_pad;
-				/* Disable packet mode in pad state */
-				ao_packet_slave_stop();
-
-				/* Turn on telemetry system */
-				ao_rdf_set(1);
-				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
-			}
-			/* signal successful initialization by turning off the LED */
-			ao_led_off(AO_LED_RED);
-
-			/* wakeup threads due to state change */
-			ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-			break;
-		case ao_flight_pad:
-			if (ao_height> AO_M_TO_HEIGHT(20)) {
-				ao_flight_state = ao_flight_drogue;
-				ao_launch_tick = ao_sample_tick;
-
-				/* start logging data */
-				ao_log_start();
-
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-			}
-			break;
-		case ao_flight_drogue:
-			/* drogue/main to land:
-			 *
-			 * barometer: altitude stable
-			 */
-
-			if (ao_height < ao_interval_min_height)
-				ao_interval_min_height = ao_height;
-			if (ao_height > ao_interval_max_height)
-				ao_interval_max_height = ao_height;
-
-			if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
-				if (ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
-				{
-					ao_flight_state = ao_flight_landed;
-
-					/* turn off the ADC capture */
-					ao_timer_set_adc_interval(0);
-					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-				}
-				ao_interval_min_height = ao_interval_max_height = ao_height;
-				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
-			}
-			break;
-		}
-	}
-}
-
-static __xdata struct ao_task	flight_task;
-
-void
-ao_flight_nano_init(void)
-{
-	ao_flight_state = ao_flight_startup;
-	ao_add_task(&flight_task, ao_flight_nano, "flight");
-}