Use sdcc from path

[fw/altos] / ao_flight.c

diff --git a/ao_flight.c b/ao_flight.c
index dac110aab9f0c9953b9db25561a8821a9d0f5b46..3aff866aa664c27a8383e5d8a6ed51f948aaa51b 100644 (file)
--- a/ao_flight.c
+++ b/ao_flight.c
@@ -134,12 +134,19 @@ ao_flight(void)
                        
                        ao_interval_end = ao_flight_tick;
                        
-                       if (ao_flight_accel < ACCEL_NOSE_UP) {
+                       /* Go to launchpad state if the nose is pointing up and the battery is charged */
+                       if (ao_flight_accel < ACCEL_NOSE_UP && ao_flight_data.v_batt > 23000) {
                                ao_flight_state = ao_flight_launchpad;
-                               ao_report_notify();
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        } else {
                                ao_flight_state = ao_flight_idle;
-                               ao_report_notify();
+                               
+                               /* Turn on the Green LED in idle mode
+                                * This also happens to bring the USB up for the TI board
+                                */
+                               ao_led_on(AO_LED_GREEN);
+                               ao_timer_set_adc_interval(100);
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        /* signal successful initialization by turning off the LED */
                        ao_led_off(AO_LED_RED);
@@ -150,7 +157,7 @@ ao_flight(void)
                        {
                                ao_flight_state = ao_flight_boost;
                                ao_log_start();
-                               ao_report_notify();
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                                break;
                        }
                        break;
@@ -159,7 +166,7 @@ ao_flight(void)
                            (int16_t) (ao_flight_data.tick - ao_launch_time) > BOOST_TICKS_MAX)
                        {
                                ao_flight_state = ao_flight_coast;
-                               ao_report_notify();
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                                break;
                        }
                        break;
@@ -168,29 +175,29 @@ ao_flight(void)
                                ao_min_pres = ao_flight_pres;
                        if (ao_flight_pres - BARO_APOGEE > ao_min_pres) {
                                ao_flight_state = ao_flight_apogee;
-                               ao_report_notify();
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        break;
                case ao_flight_apogee:
 //                     ao_ignite(AO_IGNITE_DROGUE);
                        ao_flight_state = ao_flight_drogue;
-                       ao_report_notify();
+                       ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        break; 
                case ao_flight_drogue:
                        if (ao_flight_pres >= ao_main_pres) {
 //                             ao_ignite(AO_IGNITE_MAIN);
                                ao_flight_state = ao_flight_main;
-                               ao_report_notify();
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        if ((ao_interval_max_pres - ao_interval_min_pres) < BARO_LAND) {
                                ao_flight_state = ao_flight_landed;
-                               ao_report_notify();
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        break;
                case ao_flight_main:
                        if ((ao_interval_max_pres - ao_interval_min_pres) < BARO_LAND) {
                                ao_flight_state = ao_flight_landed;
-                               ao_report_notify();
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        break;
                case ao_flight_landed: