The final state change to landing is recorded in the logging thread, so have
that turn off logging once it has recorded that state. Then make it go to
sleep.
/* turn off the ADC capture */
ao_timer_set_adc_interval(0);
/* turn off the ADC capture */
ao_timer_set_adc_interval(0);
- /* stop logging data */
- ao_log_stop();
-
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
memcpy(&gps_data, &ao_gps_data, sizeof (struct ao_gps_data));
ao_mutex_put(&ao_gps_mutex);
memcpy(&gps_data, &ao_gps_data, sizeof (struct ao_gps_data));
ao_mutex_put(&ao_gps_mutex);
+ if (!(gps_data.flags & AO_GPS_VALID))
+ continue;
+
gps_log.tick = ao_time();
gps_log.type = AO_LOG_GPS_TIME;
gps_log.u.gps_time.hour = gps_data.hour;
gps_log.tick = ao_time();
gps_log.type = AO_LOG_GPS_TIME;
gps_log.u.gps_time.hour = gps_data.hour;
log.u.flight.flight = ao_log_dump_flight + 1;
ao_log_data(&log);
for (;;) {
log.u.flight.flight = ao_log_dump_flight + 1;
ao_log_data(&log);
for (;;) {
- /* Write state change to EEPROM */
- if (ao_flight_state != ao_log_state) {
- ao_log_state = ao_flight_state;
- log.type = AO_LOG_STATE;
- log.tick = ao_flight_tick;
- log.u.state.state = ao_log_state;
- log.u.state.reason = 0;
- ao_log_data(&log);
- }
+ while (!ao_log_running)
+ ao_sleep(&ao_log_running);
+
/* Write samples to EEPROM */
while (ao_log_adc_pos != ao_adc_head) {
log.type = AO_LOG_SENSOR;
/* Write samples to EEPROM */
while (ao_log_adc_pos != ao_adc_head) {
log.type = AO_LOG_SENSOR;
}
ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos);
}
}
ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos);
}
+ /* Write state change to EEPROM */
+ if (ao_flight_state != ao_log_state) {
+ ao_log_state = ao_flight_state;
+ log.type = AO_LOG_STATE;
+ log.tick = ao_flight_tick;
+ log.u.state.state = ao_log_state;
+ log.u.state.reason = 0;
+ ao_log_data(&log);
+
+ if (ao_log_state == ao_flight_landed)
+ ao_log_stop();
+ }
/* Wait for a while */
ao_delay(AO_MS_TO_TICKS(100));
/* Wait for a while */
ao_delay(AO_MS_TO_TICKS(100));