Enable packet-based communcation to command processor

[fw/altos] / src / ao_flight.c

diff --git a/src/ao_flight.c b/src/ao_flight.c
index c0f5683047b4d5e3e37dd6d28d14bb9de71295e2..e91a5daa74c97cc77f03b6d3030657c6f061a45e 100644 (file)
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -216,7 +216,7 @@ ao_flight(void)
                        ao_old_vel = ao_flight_vel;
                        ao_old_vel_tick = ao_flight_tick;
 
-                       /* Go to launchpad state if the nose is pointing up */
+                       /* Go to pad state if the nose is pointing up */
                        ao_config_get();
                        if (ao_flight_accel < ao_config.accel_zero_g - ACCEL_NOSE_UP) {
 
@@ -227,22 +227,23 @@ ao_flight(void)
 
                                /* Turn on telemetry system
                                 */
+                               ao_rdf_set(1);
                                ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 
-                               ao_flight_state = ao_flight_launchpad;
+                               ao_flight_state = ao_flight_pad;
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        } else {
                                ao_flight_state = ao_flight_idle;
 
-                               /* Turn on the Green LED in idle mode
+                               /* Turn on packet system in idle mode
                                 */
-                               ao_led_on(AO_LED_GREEN);
+                               ao_packet_slave_start();
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        /* signal successful initialization by turning off the LED */
                        ao_led_off(AO_LED_RED);
                        break;
-               case ao_flight_launchpad:
+               case ao_flight_pad:
 
                        /* Trim velocity
                         *
@@ -277,13 +278,16 @@ ao_flight(void)
                                /* Increase telemetry rate */
                                ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
 
+                               /* disable RDF beacon */
+                               ao_rdf_set(0);
+
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                                break;
                        }
                        break;
                case ao_flight_boost:
 
-                       /* boost to coast:
+                       /* boost to fast:
                         *
                         * accelerometer: start to fall at > 1/4 G
                         *              OR
@@ -296,14 +300,14 @@ ao_flight(void)
                        if (ao_flight_accel > ao_ground_accel + (ACCEL_G >> 2) ||
                            (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
                        {
-                               ao_flight_state = ao_flight_coast;
+                               ao_flight_state = ao_flight_fast;
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                                break;
                        }
                        break;
-               case ao_flight_coast:
+               case ao_flight_fast:
 
-                       /* coast to apogee detect:
+                       /* fast to coast:
                         *
                         * accelerometer: integrated velocity < 200 m/s
                         *               OR
@@ -325,13 +329,13 @@ ao_flight(void)
                                 * apogee detect
                                 */
                                ao_min_vel = abs(ao_flight_vel);
-                               ao_flight_state = ao_flight_apogee;
+                               ao_flight_state = ao_flight_coast;
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        break;
-               case ao_flight_apogee:
+               case ao_flight_coast:
 
-                       /* apogee detect to drogue deploy:
+                       /* apogee detect: coast to drogue deploy:
                         *
                         * accelerometer: abs(velocity) > min_velocity + 2m/s
                         *               OR
@@ -438,6 +442,8 @@ ao_flight(void)
 
                                /* turn off the ADC capture */
                                ao_timer_set_adc_interval(0);
+                               /* Enable RDF beacon */
+                               ao_rdf_set(1);
 
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
@@ -452,7 +458,7 @@ ao_flight(void)
 #define AO_VEL_COUNT_TO_MS(count)      ((int16_t) ((count) / 2700))
 
 static void
-ao_flight_status(void)
+ao_flight_status(void) __reentrant
 {
        printf("STATE: %7s accel: %d speed: %d altitude: %d main: %d\n",
               ao_state_names[ao_flight_state],