altos: Reset i2c controller at boot time

[fw/altos] / altosui / AltosState.java

diff --git a/altosui/AltosState.java b/altosui/AltosState.java
index 378930bf4993856464edbf42ba02c7dd419c9d90..9c6f85ebb4361cb900f3122ed04bd2b7b0c78492 100644 (file)
--- a/altosui/AltosState.java
+++ b/altosui/AltosState.java
@@ -35,6 +35,7 @@ public class AltosState {
        int     state;
        boolean landed;
        boolean ascent; /* going up? */
+       boolean boost;  /* under power */
 
        double  ground_altitude;
        double  height;
@@ -53,6 +54,9 @@ public class AltosState {
 
        AltosGPS        gps;
 
+       AltosIMU        imu;
+       AltosMag        mag;
+
        double  pad_lat;
        double  pad_lon;
        double  pad_alt;
@@ -73,7 +77,6 @@ public class AltosState {
        int     speak_tick;
        double  speak_altitude;
 
-
        void init (AltosRecord cur, AltosState prev_state) {
                int             i;
                AltosRecord prev;
@@ -107,6 +110,8 @@ public class AltosState {
                        max_acceleration = prev_state.max_acceleration;
                        max_speed = prev_state.max_speed;
                        max_baro_speed = prev_state.max_baro_speed;
+                       imu = prev_state.imu;
+                       mag = prev_state.mag;
 
                        /* make sure the clock is monotonic */
                        while (tick < prev_state.tick)
@@ -135,7 +140,7 @@ public class AltosState {
 
                time = tick / 100.0;
 
-               if (state == Altos.ao_flight_pad || state == Altos.ao_flight_idle) {
+               if (cur.new_gps && (state == Altos.ao_flight_pad || state == Altos.ao_flight_idle)) {
 
                        /* Track consecutive 'good' gps reports, waiting for 10 of them */
                        if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
@@ -167,13 +172,14 @@ public class AltosState {
 
                ascent = (Altos.ao_flight_boost <= state &&
                          state <= Altos.ao_flight_coast);
+               boost = (Altos.ao_flight_boost == state);
 
-               /* Only look at accelerometer data on the way up */
-               if (ascent && acceleration > max_acceleration)
+               /* Only look at accelerometer data under boost */
+               if (boost && acceleration > max_acceleration)
                        max_acceleration = acceleration;
-               if (ascent && speed > max_speed)
+               if (boost && speed > max_speed)
                        max_speed = speed;
-               if (ascent && baro_speed > max_baro_speed)
+               if (boost && baro_speed > max_baro_speed)
                        max_baro_speed = baro_speed;
 
                if (height > max_height)