Merge remote-tracking branch 'origin/master'

[fw/altos] / src / core / ao_flight.c

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index a0affc4868f028dd61ccea1b86c0ac863e404623..1322195beb2ca4d0e1cb5ddab0c99580e7f2abe5 100644 (file)
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -40,6 +40,7 @@
 
 __pdata enum ao_flight_state   ao_flight_state;        /* current flight state */
 __pdata uint16_t               ao_boost_tick;          /* time of launch detect */
+__pdata uint16_t               ao_motor_number;        /* number of motors burned so far */
 
 /*
  * track min/max data over a long interval to detect
@@ -48,7 +49,9 @@ __pdata uint16_t              ao_boost_tick;          /* time of launch detect */
 static __data uint16_t         ao_interval_end;
 static __data int16_t          ao_interval_min_height;
 static __data int16_t          ao_interval_max_height;
+#if HAS_ACCEL
 static __data int16_t          ao_coast_avg_accel;
+#endif
 
 __pdata uint8_t                        ao_flight_force_idle;
 
@@ -91,7 +94,9 @@ ao_flight(void)
                        if (ao_config.accel_plus_g == 0 ||
                            ao_config.accel_minus_g == 0 ||
                            ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
-                           ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
+                           ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
+                           ao_ground_height < -1000 ||
+                           ao_ground_height > 7000)
                        {
                                /* Detected an accel value outside -1.5g to 1.5g
                                 * (or uncalibrated values), so we go into invalid mode
@@ -112,14 +117,14 @@ ao_flight(void)
                        {
                                /* Set pad mode - we can fly! */
                                ao_flight_state = ao_flight_pad;
-#if HAS_USB && HAS_RADIO
+#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
                                /* Disable the USB controller in flight mode
                                 * to save power
                                 */
                                ao_usb_disable();
 #endif
 
-#if !HAS_ACCEL
+#if !HAS_ACCEL && PACKET_HAS_SLAVE
                                /* Disable packet mode in pad state on TeleMini */
                                ao_packet_slave_stop();
 #endif
@@ -213,6 +218,7 @@ ao_flight(void)
 #else
                                ao_flight_state = ao_flight_coast;
 #endif
+                               ++ao_motor_number;
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        break;
@@ -350,13 +356,13 @@ ao_flight(void)
                                ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
                        }
                        break;
-               case ao_flight_landed:
+               default:
                        break;
                }
        }
 }
 
-#if !HAS_RADIO
+#if HAS_FLIGHT_DEBUG
 static inline int int_part(int16_t i)  { return i >> 4; }
 static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; }
 
@@ -376,6 +382,7 @@ ao_flight_dump(void)
        printf ("  raw accel   %d\n", ao_sample_accel);
 #endif
        printf ("  ground pres %d\n", ao_ground_pres);
+       printf ("  ground alt  %d\n", ao_ground_height);
 #if HAS_ACCEL
        printf ("  raw accel   %d\n", ao_sample_accel);
        printf ("  groundaccel %d\n", ao_ground_accel);
@@ -411,7 +418,7 @@ void
 ao_flight_init(void)
 {
        ao_flight_state = ao_flight_startup;
-#if !HAS_RADIO
+#if HAS_FLIGHT_DEBUG
        ao_cmd_register(&ao_flight_cmds[0]);
 #endif
        ao_add_task(&flight_task, ao_flight, "flight");