+ if (ao_config.tracker_interval != tracker_interval) {
+ tracker_interval = ao_config.tracker_interval;
+ ao_gps_set_rate(tracker_interval);
+
+ /* force telemetry interval to be reset */
+ tracker_running = 0;
+ }
+
+ if (new_tracker_running && !tracker_running)
+ ao_telemetry_set_interval(AO_SEC_TO_TICKS(tracker_interval));
+ else if (!new_tracker_running && tracker_running)
+ ao_telemetry_set_interval(0);
+
+ tracker_running = new_tracker_running;
+
+ if (new_tracker_running && !ao_log_running)
+ ao_log_start();
+ else if (!new_tracker_running && ao_log_running)
+ ao_log_stop();
+
+ if (!ao_log_running)
+ continue;
+
+ if (new & AO_GPS_NEW_DATA) {
+ if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+ (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+ {
+ uint8_t ring;
+ uint8_t moving = 0;
+ gps_alt_t altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data);
+
+ for (ring = ao_gps_ring_next(gps_head); ring != gps_head; ring = ao_gps_ring_next(ring)) {
+ ground_distance = ao_distance(gps_data.latitude, gps_data.longitude,
+ gps_position[ring].latitude,
+ gps_position[ring].longitude);
+ height = gps_position[ring].altitude - altitude;
+ if (height < 0)
+ height = -height;
+
+ if (ao_tracker_force_telem)
+ printf("head %d ring %d ground_distance %d height %d\n", gps_head, ring, ground_distance, height);
+ if (ground_distance > ao_config.tracker_motion ||
+ height > (ao_config.tracker_motion << 1))
+ {
+ moving = 1;
+ break;
+ }
+ }
+ if (ao_tracker_force_telem) {
+ printf ("moving %d started %d\n", moving, log_started);
+ flush();
+ }
+ if (moving) {
+ ao_mutex_get(&tracker_mutex);
+ if (!log_started) {
+ ao_log_gps_flight();
+ log_started = 1;
+ }
+ ao_log_gps_data(gps_tick, &gps_data);
+ gps_position[gps_head].latitude = gps_data.latitude;
+ gps_position[gps_head].longitude = gps_data.longitude;
+ gps_position[gps_head].altitude = altitude;
+ gps_head = ao_gps_ring_next(gps_head);
+ ao_mutex_put(&tracker_mutex);
+ }
+ }
+ }
+ }
+}
+
+static uint8_t erasing_current;
+
+void
+ao_tracker_erase_start(uint16_t flight)
+{
+ erasing_current = flight == ao_flight_number;
+ if (erasing_current) {
+ ao_mutex_get(&tracker_mutex);
+ ao_log_stop();
+ if (++ao_flight_number == 0)
+ ao_flight_number = 1;
+ }
+}
+
+void
+ao_tracker_erase_end(void)
+{
+ if (erasing_current) {
+ log_started = ao_log_scan();
+ ao_mutex_put(&tracker_mutex);