__pdata enum ao_flight_state ao_flight_state; /* current flight state */
__pdata uint16_t ao_boost_tick; /* time of launch detect */
+__pdata uint16_t ao_motor_number; /* number of motors burned so far */
/*
* track min/max data over a long interval to detect
if (ao_config.accel_plus_g == 0 ||
ao_config.accel_minus_g == 0 ||
ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
- ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
+ ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
+ ao_ground_height < -1000 ||
+ ao_ground_height > 7000)
{
/* Detected an accel value outside -1.5g to 1.5g
* (or uncalibrated values), so we go into invalid mode
{
/* Set pad mode - we can fly! */
ao_flight_state = ao_flight_pad;
-#if HAS_USB && HAS_RADIO
+#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
/* Disable the USB controller in flight mode
* to save power
*/
ao_usb_disable();
#endif
-#if !HAS_ACCEL
+#if !HAS_ACCEL && PACKET_HAS_SLAVE
/* Disable packet mode in pad state on TeleMini */
ao_packet_slave_stop();
#endif
#else
ao_flight_state = ao_flight_coast;
#endif
+ ++ao_motor_number;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
}
}
-#if !HAS_RADIO
+#if HAS_FLIGHT_DEBUG
static inline int int_part(int16_t i) { return i >> 4; }
static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; }
printf (" raw accel %d\n", ao_sample_accel);
#endif
printf (" ground pres %d\n", ao_ground_pres);
+ printf (" ground alt %d\n", ao_ground_height);
#if HAS_ACCEL
printf (" raw accel %d\n", ao_sample_accel);
printf (" groundaccel %d\n", ao_ground_accel);
ao_flight_init(void)
{
ao_flight_state = ao_flight_startup;
-#if !HAS_RADIO
+#if HAS_FLIGHT_DEBUG
ao_cmd_register(&ao_flight_cmds[0]);
#endif
ao_add_task(&flight_task, ao_flight, "flight");