altos: full logging must flush pending data before checking state

[fw/altos] / src / ao_log_big.c

diff --git a/src/ao_log_big.c b/src/ao_log_big.c
index 8379ab5f1e36488463db092f93a2933a2b6bf21c..ab6b02f582e88a4b96fbf174d6793d3a949f63d0 100644 (file)
--- a/src/ao_log_big.c
+++ b/src/ao_log_big.c
@@ -72,8 +72,7 @@ typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_record))] ;
 void
 ao_log(void)
 {
-       uint16_t        next_sensor;
-       uint16_t        next_other;
+       uint16_t        next_sensor, next_other;
 
        ao_storage_setup();
 
@@ -83,7 +82,7 @@ ao_log(void)
                ao_sleep(&ao_log_running);
 
        log.type = AO_LOG_FLIGHT;
-       next_other = next_sensor = log.tick = ao_flight_tick;
+       log.tick = ao_flight_tick;
 #if HAS_ACCEL
        log.u.flight.ground_accel = ao_ground_accel;
 #endif
@@ -94,6 +93,8 @@ ao_log(void)
         * when starting up.
         */
        ao_log_adc_pos = ao_adc_ring_next(ao_flight_adc);
+       next_other = next_sensor = ao_adc_ring[ao_log_adc_pos].tick;
+       ao_log_state = ao_flight_startup;
        for (;;) {
                /* Write samples to EEPROM */
                while (ao_log_adc_pos != ao_flight_adc) {
@@ -103,7 +104,7 @@ ao_log(void)
                                log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel;
                                log.u.sensor.pres = ao_adc_ring[ao_log_adc_pos].pres;
                                ao_log_data(&log);
-                               if (ao_flight_state <= ao_flight_coast)
+                               if (ao_log_state <= ao_flight_coast)
                                        next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
                                else
                                        next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
@@ -120,18 +121,18 @@ ao_log(void)
                                next_other = log.tick + AO_OTHER_INTERVAL;
                        }
                        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();
-                       }
+               }
+               /* 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 */