#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
#if !HAS_USB_CONNECT
ao_tracker_force_telem = 1;
#endif
- ao_log_scan();
+ log_started = ao_log_scan();
ao_rdf_set(1);
{
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) {
+ if (ao_tracker_force_telem > 1) {
printf ("moving %d started %d\n", moving, log_started);
flush();
}
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);
}
ao_tracker_erase_end(void)
{
if (erasing_current) {
- ao_log_scan();
- log_started = 0;
+ log_started = ao_log_scan();
ao_mutex_put(&tracker_mutex);
}
}
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 },
};