X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_report.c;h=26604d1ad4d784a96318dae4e8115327fe702cbc;hb=2781c187d58955bbac5c9fcf498c3b46a84a13d5;hp=08967af8450f3f2701b82e3c3df146e801dfa5e1;hpb=0686a7b8aec524d81bda4c572549a3a068ce0eed;p=fw%2Faltos

diff --git a/src/kernel/ao_report.c b/src/kernel/ao_report.c
index 08967af8..26604d1a 100644
--- a/src/kernel/ao_report.c
+++ b/src/kernel/ao_report.c
@@ -40,6 +40,8 @@ static const uint8_t flight_reports[] = {
 	MORSE4(1,0,0,1),	/* invalid 'X' */
 };
 
+static enum ao_flight_state ao_report_state;
+
 #if HAS_BEEP
 #define low(time)	ao_beep_for(AO_BEEP_LOW, time)
 #define mid(time)	ao_beep_for(AO_BEEP_MID, time)
@@ -58,8 +60,6 @@ static const uint8_t flight_reports[] = {
 #endif
 #define pause(time)	ao_delay(time)
 
-static enum ao_flight_state ao_report_state;
-
 /*
  * Farnsworth spacing
  *
@@ -115,7 +115,7 @@ static enum ao_flight_state ao_report_state;
  */
 
 static void
-ao_report_beep(void) 
+ao_report_flight_state(void) 
 {
 	uint8_t r = flight_reports[ao_flight_state];
 	uint8_t l = r & 7;
@@ -190,6 +190,7 @@ ao_report_battery(void)
 #endif
 
 #if HAS_IGNITE_REPORT
+#if HAS_IGNITE
 static uint8_t
 ao_report_igniter_ready(enum ao_igniter igniter)
 {
@@ -202,16 +203,13 @@ ao_report_igniter(void)
 	return (ao_report_igniter_ready(ao_igniter_drogue) |
 		     (ao_report_igniter_ready(ao_igniter_main) << 1));
 }
+#endif
 
 static void
 ao_report_continuity(void) 
 {
-	uint8_t	c;
-
-#if !HAS_IGNITE
-	if (!ao_igniter_present)
-		return;
-#endif
+	uint8_t c;
+#if HAS_IGNITE
 	c = ao_report_igniter();
 	if (c) {
 		while (c--) {
@@ -225,8 +223,11 @@ ao_report_continuity(void)
 			low(AO_MS_TO_TICKS(20));
 		}
 	}
+#endif
 #if AO_PYRO_NUM
+#if HAS_IGNITE
 	pause(AO_MS_TO_TICKS(250));
+#endif
 	for(c = 0; c < AO_PYRO_NUM; c++) {
 		enum ao_igniter_status	status = ao_pyro_status(c);
 		if (status == ao_igniter_ready)
@@ -251,7 +252,7 @@ ao_report_continuity(void)
 }
 #endif
 
-void
+static void
 ao_report(void)
 {
 	for(;;) {
@@ -261,7 +262,12 @@ ao_report(void)
 			ao_report_battery();
 		else
 #endif
-			ao_report_beep();
+			ao_report_flight_state();
+#if HAS_SENSOR_ERRORS
+		if (ao_report_state == ao_flight_invalid && ao_sensor_errors)
+			ao_report_number(ao_sensor_errors);
+#endif
+
 		if (ao_report_state == ao_flight_landed) {
 			ao_report_altitude();
 #if HAS_FLIGHT