#include <ao_sample.h>
#include <ao_flight.h>
+#if IS_COMPANION
+#include <ao_companion.h>
+#define ao_accel ao_companion_command.accel
+#define ao_speed ao_companion_command.speed
+#define ao_height ao_companion_command.height
+#define ao_flight_state ao_companion_command.flight_state
+#define ao_motor_number ao_companion_command.motor_number
+#endif
+
#define ao_lowbit(x) ((x) & (-x))
/*
ao_delay(AO_MS_TO_TICKS(50));
}
+uint8_t ao_pyro_wakeup;
+
static void
ao_pyro(void)
{
ao_sleep(&ao_flight_state);
for (;;) {
- ao_delay(AO_MS_TO_TICKS(100));
+ ao_alarm(AO_MS_TO_TICKS(100));
+ ao_sleep(&ao_pyro_wakeup);
+ ao_clear_alarm();
for (p = 0; p < AO_PYRO_NUM; p++) {
pyro = &ao_config.pyro[p];