X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_flight.c;h=9d9d4c6e0b3ddea72a724b1b3eacee94dbb9f76c;hb=8d0f4bc23eae4f1e085bfb853c995f1fb6b8b594;hp=39084fd0fa2cad5d2078a45a0ac1231cfd05108f;hpb=6694cedd560a7ea9520ef11472c2770b489187c0;p=fw%2Faltos

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 39084fd0..9d9d4c6e 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -40,6 +40,7 @@
 
 __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
@@ -93,7 +94,9 @@ ao_flight(void)
 			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
@@ -114,7 +117,7 @@ ao_flight(void)
  			{
 				/* 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
 				 */
@@ -215,6 +218,7 @@ ao_flight(void)
 #else
 				ao_flight_state = ao_flight_coast;
 #endif
+				++ao_motor_number;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			}
 			break;
@@ -358,7 +362,7 @@ ao_flight(void)
 	}
 }
 
-#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; }
 
@@ -378,6 +382,7 @@ ao_flight_dump(void)
 	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);
@@ -413,7 +418,7 @@ void
 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");