altos: Support staging by going back to boost as needed

[fw/altos] / altosui / AltosState.java

diff --git a/altosui/AltosState.java b/altosui/AltosState.java
index 4e165f8093550ea4ea0fe74fb552d3d3073084a4..072cb790bfb1161b5d11d2d6c9f86c5ae560185d 100644 (file)
--- a/altosui/AltosState.java
+++ b/altosui/AltosState.java
@@ -28,6 +28,7 @@ public class AltosState {
 
        long    report_time;
 
+       double  time;
        double  time_change;
        int     tick;
 
@@ -48,6 +49,7 @@ public class AltosState {
        double  max_height;
        double  max_acceleration;
        double  max_speed;
+       double  max_baro_speed;
 
        AltosGPS        gps;
 
@@ -71,7 +73,6 @@ public class AltosState {
        int     speak_tick;
        double  speak_altitude;
 
-
        void init (AltosRecord cur, AltosState prev_state) {
                int             i;
                AltosRecord prev;
@@ -80,7 +81,6 @@ public class AltosState {
 
                ground_altitude = data.ground_altitude();
                height = data.filtered_height();
-               System.out.printf("height %g\n", height);
 
                report_time = System.currentTimeMillis();
 
@@ -105,6 +105,7 @@ public class AltosState {
                        max_height = prev_state.max_height;
                        max_acceleration = prev_state.max_acceleration;
                        max_speed = prev_state.max_speed;
+                       max_baro_speed = prev_state.max_baro_speed;
 
                        /* make sure the clock is monotonic */
                        while (tick < prev_state.tick)
@@ -131,7 +132,9 @@ public class AltosState {
                        time_change = 0;
                }
 
-               if (state == Altos.ao_flight_pad) {
+               time = tick / 100.0;
+
+               if (state == Altos.ao_flight_pad || state == Altos.ao_flight_idle) {
 
                        /* Track consecutive 'good' gps reports, waiting for 10 of them */
                        if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
@@ -169,6 +172,8 @@ public class AltosState {
                        max_acceleration = acceleration;
                if (ascent && speed > max_speed)
                        max_speed = speed;
+               if (ascent && baro_speed > max_baro_speed)
+                       max_baro_speed = baro_speed;
 
                if (height > max_height)
                        max_height = height;