altos: Enable pyro channel control in telepyro

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

diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c
index a1377d21a2b8972b974624ce3a68629772b5ddb3..4f37e9793e6cbe0c37dc424119e93445adc8a89f 100644 (file)
--- a/src/core/ao_pyro.c
+++ b/src/core/ao_pyro.c
@@ -20,6 +20,15 @@
 #include <ao_sample.h>
 #include <ao_flight.h>
 
+#if IS_COMPANION
+#include <ao_companion.h>
+#define ao_accel ao_companion_command.accel
+#define ao_speed ao_companion_command.speed
+#define ao_height ao_companion_command.height
+#define ao_flight_state ao_companion_command.flight_state
+#define ao_motor_number ao_companion_command.motor_number
+#endif
+
 #define ao_lowbit(x)   ((x) & (-x))
 
 /*
@@ -152,6 +161,8 @@ ao_pyro_fire(uint8_t p)
        ao_delay(AO_MS_TO_TICKS(50));
 }
 
+uint8_t        ao_pyro_wakeup;
+
 static void
 ao_pyro(void)
 {
@@ -163,7 +174,9 @@ ao_pyro(void)
                ao_sleep(&ao_flight_state);
 
        for (;;) {
-               ao_delay(AO_MS_TO_TICKS(100));
+               ao_alarm(AO_MS_TO_TICKS(100));
+               ao_sleep(&ao_pyro_wakeup);
+               ao_clear_alarm();
                for (p = 0; p < AO_PYRO_NUM; p++) {
                        pyro = &ao_config.pyro[p];