Log GPS data on pad after boost detect.

[fw/altos] / src / ao_flight.c

diff --git a/src/ao_flight.c b/src/ao_flight.c
index f57573d0547b15baf2e804441837dc122db03ab3..980c16be555f67ca389ff0982690689f894bd99c 100644 (file)
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -50,6 +50,8 @@ __data uint8_t ao_flight_adc;
 __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres;
 __pdata int16_t ao_accel_2g;
 
+__xdata uint8_t ao_flight_force_idle;
+
 /* Accelerometer calibration
  *
  * We're sampling the accelerometer through a resistor divider which
@@ -221,8 +223,10 @@ ao_flight(void)
 
                        /* Go to pad state if the nose is pointing up */
                        ao_config_get();
-                       if (ao_config.accel_plus_g != 0 && ao_config.accel_minus_g != 0 &&
-                           ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP)
+                       if (ao_config.accel_plus_g != 0 &&
+                           ao_config.accel_minus_g != 0 &&
+                           ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP &&
+                           !ao_flight_force_idle)
                        {
                                /* Disable the USB controller in flight mode
                                 * to save power
@@ -285,6 +289,10 @@ ao_flight(void)
                                /* disable RDF beacon */
                                ao_rdf_set(0);
 
+                               /* Record current GPS position by waking up GPS log tasks */
+                               ao_wakeup(&ao_gps_data);
+                               ao_wakeup(&ao_gps_tracking_data);
+
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                                break;
                        }