X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_flight.c;h=240b348a999e7207963d7274d38a01d0719490a7;hb=d96fd33aa8a220d547512eb43c88fc8f5651e39e;hp=9d9d4c6e0b3ddea72a724b1b3eacee94dbb9f76c;hpb=887209b61ac3012d0fd2206cf1016c44f59cb432;p=fw%2Faltos

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 9d9d4c6e..240b348a 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -20,6 +20,10 @@
 #include <ao_log.h>
 #endif
 
+#if HAS_MPU6000
+#include <ao_quaternion.h>
+#endif
+
 #ifndef HAS_ACCEL
 #error Please define HAS_ACCEL
 #endif
@@ -117,14 +121,14 @@ ao_flight(void)
  			{
 				/* Set pad mode - we can fly! */
 				ao_flight_state = ao_flight_pad;
-#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
+#if HAS_USB && !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
@@ -134,8 +138,10 @@ ao_flight(void)
 				ao_rdf_set(1);
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 #endif
+#if HAS_LED
 				/* signal successful initialization by turning off the LED */
 				ao_led_off(AO_LED_RED);
+#endif
 			} else {
 				/* Set idle mode */
  				ao_flight_state = ao_flight_idle;
@@ -145,8 +151,10 @@ ao_flight(void)
 				ao_packet_slave_start();
 #endif
 
+#if HAS_LED
 				/* signal successful initialization by turning off the LED */
 				ao_led_off(AO_LED_RED);
+#endif
 			}
 			/* wakeup threads due to state change */
 			ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
@@ -190,8 +198,8 @@ ao_flight(void)
 
 #if HAS_GPS
 				/* Record current GPS position by waking up GPS log tasks */
-				ao_wakeup(&ao_gps_data);
-				ao_wakeup(&ao_gps_tracking_data);
+				ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
+				ao_wakeup(&ao_gps_new);
 #endif
 
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));