X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_flight.c;h=50f2b68f998f3df1c7960bfb64ffb6153e15de6f;hb=f69d85e2b32370ab68e2725e739417cad6d7a590;hp=24099347ce4466589592c4d49ffc78775de867fe;hpb=24167015705ae831692b95735968b04a876f935e;p=fw%2Faltos

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 24099347..50f2b68f 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -36,6 +37,10 @@
 #error Please define HAS_USB
 #endif
 
+#if HAS_FAKE_FLIGHT
+#include <ao_fake_flight.h>
+#endif
+
 #ifndef HAS_TELEMETRY
 #define HAS_TELEMETRY	HAS_RADIO
 #endif
@@ -56,10 +61,10 @@ __xdata uint8_t			ao_sensor_errors;
  * resting
  */
 static __data uint16_t		ao_interval_end;
-static __data int16_t		ao_interval_min_height;
-static __data int16_t		ao_interval_max_height;
+static __data ao_v_t		ao_interval_min_height;
+static __data ao_v_t		ao_interval_max_height;
 #if HAS_ACCEL
-static __data int16_t		ao_coast_avg_accel;
+static __data ao_v_t		ao_coast_avg_accel;
 #endif
 
 __pdata uint8_t			ao_flight_force_idle;
@@ -126,11 +131,14 @@ ao_flight(void)
  			{
 				/* Set pad mode - we can fly! */
 				ao_flight_state = ao_flight_pad;
-#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
+#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE && !DEBUG
 				/* Disable the USB controller in flight mode
 				 * to save power
 				 */
-				ao_usb_disable();
+#if HAS_FAKE_FLIGHT
+				if (!ao_fake_flight_active)
+#endif
+					ao_usb_disable();
 #endif
 
 #if !HAS_ACCEL && PACKET_HAS_SLAVE
@@ -170,7 +178,6 @@ ao_flight(void)
 
 			break;
 		case ao_flight_pad:
-
 			/* pad to boost:
 			 *
 			 * barometer: > 20m vertical motion
@@ -364,8 +371,10 @@ ao_flight(void)
 				{
 					ao_flight_state = ao_flight_landed;
 
+#if HAS_ADC
 					/* turn off the ADC capture */
 					ao_timer_set_adc_interval(0);
+#endif
 
 					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 				}
@@ -392,14 +401,14 @@ ao_flight(void)
 }
 
 #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; }
+static inline int int_part(ao_v_t i)	{ return i >> 4; }
+static inline int frac_part(ao_v_t i)	{ return ((i & 0xf) * 100 + 8) / 16; }
 
 static void
 ao_flight_dump(void)
 {
 #if HAS_ACCEL
-	int16_t	accel;
+	ao_v_t	accel;
 
 	accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
 #endif