X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_tracker.c;h=d94340484a8221248d89068bad9320c141e3fbf0;hb=4828be0ca5252ac9cd6061209385dcd6c4c57965;hp=a6ad87a3be2608773fcca68e21676bdcb8d3008a;hpb=dcaaf51245b44a440ee8590512f71195c30c16ae;p=fw%2Faltos

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index a6ad87a3..d9434048 100644
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -36,9 +36,9 @@ ao_usb_connected(void)
 #endif
 
 struct gps_position {
-	int32_t	latitude;
-	int32_t	longitude;
-	int16_t	altitude;
+	int32_t		latitude;
+	int32_t		longitude;
+	gps_alt_t	altitude;
 };
 
 #define GPS_RING	16
@@ -50,6 +50,7 @@ struct gps_position	gps_position[GPS_RING];
 
 static uint8_t	gps_head;
 
+static uint8_t	tracker_mutex;
 static uint8_t	log_started;
 static struct ao_telemetry_location gps_data;
 static uint8_t	tracker_running;
@@ -100,17 +101,19 @@ ao_tracker(void)
 			tracker_running = 0;
 		}
 
-		if (new_tracker_running && !tracker_running) {
+		if (new_tracker_running && !tracker_running)
 			ao_telemetry_set_interval(AO_SEC_TO_TICKS(tracker_interval));
-			ao_log_start();
-		} else if (!new_tracker_running && tracker_running) {
+		else if (!new_tracker_running && tracker_running)
 			ao_telemetry_set_interval(0);
-			ao_log_stop();
-		}
 
 		tracker_running = new_tracker_running;
 
-		if (!tracker_running)
+		if (new_tracker_running && !ao_log_running)
+			ao_log_start();
+		else if (!new_tracker_running && ao_log_running)
+			ao_log_stop();
+
+		if (!ao_log_running)
 			continue;
 
 		if (new & AO_GPS_NEW_DATA) {
@@ -119,12 +122,13 @@ ao_tracker(void)
 			{
 				uint8_t	ring;
 				uint8_t	moving = 0;
+				gps_alt_t altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data);
 
 				for (ring = ao_gps_ring_next(gps_head); ring != gps_head; ring = ao_gps_ring_next(ring)) {
 					ground_distance = ao_distance(gps_data.latitude, gps_data.longitude,
 								      gps_position[ring].latitude,
 								      gps_position[ring].longitude);
-					height = gps_position[ring].altitude - gps_data.altitude;
+					height = gps_position[ring].altitude - altitude;
 					if (height < 0)
 						height = -height;
 
@@ -138,10 +142,11 @@ ao_tracker(void)
 					}
 				}
 				if (ao_tracker_force_telem) {
-					printf ("moving %d\n", moving);
+					printf ("moving %d started %d\n", moving, log_started);
 					flush();
 				}
 				if (moving) {
+					ao_mutex_get(&tracker_mutex);
 					if (!log_started) {
 						ao_log_gps_flight();
 						log_started = 1;
@@ -149,14 +154,39 @@ ao_tracker(void)
 					ao_log_gps_data(gps_tick, &gps_data);
 					gps_position[gps_head].latitude = gps_data.latitude;
 					gps_position[gps_head].longitude = gps_data.longitude;
-					gps_position[gps_head].altitude = gps_data.altitude;
+					gps_position[gps_head].altitude = altitude;
 					gps_head = ao_gps_ring_next(gps_head);
+					ao_mutex_put(&tracker_mutex);
 				}
 			}
 		}
 	}
 }
 
+static uint8_t erasing_current;
+
+void
+ao_tracker_erase_start(uint16_t flight)
+{
+	erasing_current = flight == ao_flight_number;
+	if (erasing_current) {
+		ao_mutex_get(&tracker_mutex);
+		ao_log_stop();
+		if (++ao_flight_number == 0)
+			ao_flight_number = 1;
+	}
+}
+
+void
+ao_tracker_erase_end(void)
+{
+	if (erasing_current) {
+		ao_log_scan();
+		log_started = 0;
+		ao_mutex_put(&tracker_mutex);
+	}
+}
+
 static struct ao_task ao_tracker_task;
 
 static void
@@ -174,7 +204,7 @@ ao_tracker_set_telem(void)
 	printf ("log_started: %d\n", log_started);
 	printf ("latitude: %ld\n", (long) gps_data.latitude);
 	printf ("longitude: %ld\n", (long) gps_data.longitude);
-	printf ("altitude: %d\n", gps_data.altitude);
+	printf ("altitude: %ld\n", AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data));
 	printf ("log_running: %d\n", ao_log_running);
 	printf ("log_start_pos: %ld\n", (long) ao_log_start_pos);
 	printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos);