X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_microflight.c;h=bf994b8f80b647f1f56825053e1e0edb1e77e288;hb=243da063ef0dae656f940eb81ada55867924406f;hp=f680e4005c98a5cf9be432ed61509f79d1239863;hpb=24167015705ae831692b95735968b04a876f935e;p=fw%2Faltos

diff --git a/src/kernel/ao_microflight.c b/src/kernel/ao_microflight.c
index f680e400..bf994b8f 100644
--- a/src/kernel/ao_microflight.c
+++ b/src/kernel/ao_microflight.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
@@ -23,6 +24,7 @@
 
 uint32_t	pa;
 uint32_t	pa_ground;
+uint32_t	pa_ground_next;
 uint32_t	pa_min;
 
 static void
@@ -43,10 +45,12 @@ void
 ao_microflight(void)
 {
 	int16_t		sample_count;
-	uint16_t	time;
+	int16_t		log_count;
+	AO_TICK_TYPE	time;
 	uint32_t	pa_interval_min, pa_interval_max;
 	int32_t		pa_diff;
-	uint8_t		h, i;
+	uint8_t		h;
+	uint8_t		i;
 	uint8_t		accel_lock = 0;
 	uint32_t	pa_sum = 0;
 
@@ -55,33 +59,43 @@ ao_microflight(void)
 	time = ao_time();
 	ao_pa_get();
 	ao_microkalman_init();
-	pa_ground = pa;
+	pa_ground_next = pa_ground = pa;
 	sample_count = 0;
 	h = 0;
 	for (;;) {
 		time += SAMPLE_SLEEP;
+#if BOOST_DETECT
 		if ((sample_count & 0x1f) == 0)
 			ao_led_on(AO_LED_REPORT);
+#endif
 		ao_delay_until(time);
 		ao_microsample();
+#if BOOST_DETECT
 		if ((sample_count & 0x1f) == 0)
 			ao_led_off(AO_LED_REPORT);
+#endif
 		pa_hist[h] = pa;
 		h = SKIP_PA_HIST(h,1);
-		pa_diff = pa_ground - ao_pa;
+		pa_diff = (int32_t) (pa_ground - ao_pa);
 
+#if BOOST_DETECT
 		/* Check for a significant pressure change */
 		if (pa_diff > BOOST_DETECT)
 			break;
+#endif
 
 		if (sample_count < GROUND_AVG * 2) {
 			if (sample_count < GROUND_AVG)
 				pa_sum += pa;
 			++sample_count;
 		} else {
-			pa_ground = pa_sum >> GROUND_AVG_SHIFT;
+			pa_ground = pa_ground_next;
+			pa_ground_next = pa_sum >> GROUND_AVG_SHIFT;
 			pa_sum = 0;
 			sample_count = 0;
+#if !BOOST_DETECT
+			break;
+#endif
 		}
 	}
 
@@ -93,7 +107,10 @@ ao_microflight(void)
 	}
 
 	/* Log the remaining samples so we get a complete history since leaving the ground */
-	for (; i != h; i = SKIP_PA_HIST(i,2)) {
+#if LOG_INTERVAL < NUM_PA_HIST
+	for (; i != h; i = SKIP_PA_HIST(i,2))
+#endif
+	{
 		pa = pa_hist[i];
 		ao_log_micro_data();
 	}
@@ -101,6 +118,7 @@ ao_microflight(void)
 	/* Now sit around until the pressure is stable again and record the max */
 
 	sample_count = 0;
+	log_count = 0;
 	pa_min = ao_pa;
 	pa_interval_min = ao_pa;
 	pa_interval_max = ao_pa;
@@ -112,8 +130,11 @@ ao_microflight(void)
 		ao_microsample();
 		if ((sample_count & 3) == 0)
 			ao_led_off(AO_LED_REPORT);
-		if (sample_count & 1)
+		if (log_count == LOG_INTERVAL - 1) {
 			ao_log_micro_data();
+			log_count = 0;
+		} else
+			log_count++;
 
 		/* If accelerating upwards, don't look for min pressure */
 		if (ao_pa_accel < ACCEL_LOCK_PA)
@@ -124,7 +145,7 @@ ao_microflight(void)
 			pa_min = ao_pa;
 
 		if (sample_count == (GROUND_AVG - 1)) {
-			pa_diff = pa_interval_max - pa_interval_min;
+			pa_diff = (int32_t) (pa_interval_max - pa_interval_min);
 
 			/* Check to see if the pressure is now stable */
 			if (pa_diff < LAND_DETECT)