#endif
struct gps_position {
- int32_t latitude;
- int32_t longitude;
- int16_t altitude;
+ int32_t latitude;
+ int32_t longitude;
+ gps_alt_t altitude;
};
#define GPS_RING 16
static uint8_t gps_head;
+static uint8_t tracker_mutex;
static uint8_t log_started;
static struct ao_telemetry_location gps_data;
static uint8_t tracker_running;
#if !HAS_USB_CONNECT
ao_tracker_force_telem = 1;
#endif
- ao_log_scan();
+ log_started = ao_log_scan();
ao_rdf_set(1);
tracker_running = 0;
}
- if (new_tracker_running && !tracker_running) {
+ if (new_tracker_running && !tracker_running)
ao_telemetry_set_interval(AO_SEC_TO_TICKS(tracker_interval));
- ao_log_start();
- } else if (!new_tracker_running && tracker_running) {
+ else if (!new_tracker_running && tracker_running)
ao_telemetry_set_interval(0);
- ao_log_stop();
- }
tracker_running = new_tracker_running;
- if (!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) {
{
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 - gps_data.altitude;
+ height = gps_position[ring].altitude - altitude;
if (height < 0)
height = -height;
- if (ao_tracker_force_telem)
+ if (ao_tracker_force_telem > 1)
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))
break;
}
}
- if (ao_tracker_force_telem) {
- printf ("moving %d\n", moving);
+ if (ao_tracker_force_telem > 1) {
+ 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 = gps_data.altitude;
+ 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);
+ }
+}
+
static struct ao_task ao_tracker_task;
static void
ao_tracker_set_telem(void)
{
- uint8_t telem;
ao_cmd_hex();
- telem = ao_cmd_lex_i;
if (ao_cmd_status == ao_cmd_success)
- ao_tracker_force_telem = telem;
+ ao_tracker_force_telem = ao_cmd_lex_i;
ao_cmd_status = ao_cmd_success;
printf ("flight: %d\n", ao_flight_number);
printf ("force_telem: %d\n", ao_tracker_force_telem);
printf ("log_started: %d\n", log_started);
printf ("latitude: %ld\n", (long) gps_data.latitude);
printf ("longitude: %ld\n", (long) gps_data.longitude);
- printf ("altitude: %d\n", gps_data.altitude);
+ printf ("altitude: %ld\n", AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data));
printf ("log_running: %d\n", ao_log_running);
printf ("log_start_pos: %ld\n", (long) ao_log_start_pos);
printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos);
}
static const struct ao_cmds ao_tracker_cmds[] = {
- { ao_tracker_set_telem, "t <d>\0Set telem on USB" },
+ { ao_tracker_set_telem, "t <d>\0Set telem on USB (0 off, 1 on, 2 dbg)" },
{ 0, NULL },
};