X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_tracker.c;h=d94340484a8221248d89068bad9320c141e3fbf0;hb=4828be0ca5252ac9cd6061209385dcd6c4c57965;hp=fb9e75d06d376db77b850ca66e907c44d7c72fd4;hpb=9d7f4fb6af0fee843191766858e39a481aeda347;p=fw%2Faltos

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index fb9e75d0..d9434048 100644
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -35,9 +35,22 @@ ao_usb_connected(void)
 #define ao_usb_connected()	1
 #endif
 
-static int32_t	last_log_latitude, last_log_longitude;
-static int16_t	last_log_altitude;
-static uint8_t	unmoving;
+struct gps_position {
+	int32_t		latitude;
+	int32_t		longitude;
+	gps_alt_t	altitude;
+};
+
+#define GPS_RING	16
+
+struct gps_position	gps_position[GPS_RING];
+
+#define ao_gps_ring_next(n)	(((n) + 1) & (GPS_RING - 1))
+#define ao_gps_ring_prev(n)	(((n) - 1) & (GPS_RING - 1))
+
+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;
@@ -60,7 +73,6 @@ ao_tracker(void)
 	ao_tracker_force_telem = 1;
 #endif
 	ao_log_scan();
-	ao_log_start();
 
 	ao_rdf_set(1);
 
@@ -89,56 +101,92 @@ 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));
-		} else if (!new_tracker_running && tracker_running) {
+		else if (!new_tracker_running && tracker_running)
 			ao_telemetry_set_interval(0);
-		}
 
 		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) {
 			if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
 			    (AO_GPS_VALID|AO_GPS_COURSE_VALID))
 			{
-				if (log_started) {
+				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,
-								      last_log_latitude, last_log_longitude);
-					height = last_log_altitude - gps_data.altitude;
+								      gps_position[ring].latitude,
+								      gps_position[ring].longitude);
+					height = gps_position[ring].altitude - altitude;
 					if (height < 0)
 						height = -height;
-					if (ground_distance <= ao_config.tracker_motion &&
-					    height <= ao_config.tracker_motion)
+
+					if (ao_tracker_force_telem)
+						printf("head %d ring %d ground_distance %d height %d\n", gps_head, ring, ground_distance, height);
+					if (ground_distance > ao_config.tracker_motion ||
+					    height > (ao_config.tracker_motion << 1))
 					{
-						if (unmoving < AO_TRACKER_MOTION_COUNT)
-							unmoving++;
-					} else
-						unmoving = 0;
+						moving = 1;
+						break;
+					}
 				}
-			} else {
-				if (!log_started)
-					continue;
-				if (unmoving < AO_TRACKER_MOTION_COUNT)
-					unmoving++;
-			}
-
-			if (unmoving < AO_TRACKER_MOTION_COUNT) {
-				if (!log_started) {
-					ao_log_gps_flight();
-					log_started = 1;
+				if (ao_tracker_force_telem) {
+					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;
+					}
+					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 = altitude;
+					gps_head = ao_gps_ring_next(gps_head);
+					ao_mutex_put(&tracker_mutex);
 				}
-				ao_log_gps_data(gps_tick, &gps_data);
-				last_log_latitude = gps_data.latitude;
-				last_log_longitude = gps_data.longitude;
-				last_log_altitude = gps_data.altitude;
 			}
 		}
 	}
 }
 
+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
@@ -152,11 +200,11 @@ ao_tracker_set_telem(void)
 	ao_cmd_status = ao_cmd_success;
 	printf ("flight: %d\n", ao_flight_number);
 	printf ("force_telem: %d\n", ao_tracker_force_telem);
+	printf ("tracker_running: %d\n", tracker_running);
 	printf ("log_started: %d\n", log_started);
-	printf ("unmoving: %d\n", unmoving);
 	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);