altos: Make sure pa to altitude conversion is done with 32 bits

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

diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c
index 4f37e9793e6cbe0c37dc424119e93445adc8a89f..aac8fda51c7219d6895fce2655ec922b01bf4b9f 100644 (file)
--- a/src/core/ao_pyro.c
+++ b/src/core/ao_pyro.c
@@ -113,6 +113,15 @@ ao_pyro_ready(struct ao_pyro *pyro)
                        /* handled separately */
                        continue;
 
+               case ao_pyro_state_less:
+                       if (ao_flight_state < pyro->state_less)
+                               continue;
+                       break;
+               case ao_pyro_state_greater_or_equal:
+                       if (ao_flight_state >= pyro->state_greater_or_equal)
+                               continue;
+                       break;
+
                default:
                        continue;
                }
@@ -166,7 +175,7 @@ uint8_t     ao_pyro_wakeup;
 static void
 ao_pyro(void)
 {
-       uint8_t         p;
+       uint8_t         p, any_waiting;
        struct ao_pyro  *pyro;
 
        ao_config_get();
@@ -177,6 +186,7 @@ ao_pyro(void)
                ao_alarm(AO_MS_TO_TICKS(100));
                ao_sleep(&ao_pyro_wakeup);
                ao_clear_alarm();
+               any_waiting = 0;
                for (p = 0; p < AO_PYRO_NUM; p++) {
                        pyro = &ao_config.pyro[p];
 
@@ -190,6 +200,7 @@ ao_pyro(void)
                        if (!pyro->flags)
                                continue;
 
+                       any_waiting = 1;
                        /* Check pyro state to see if it shoule fire
                         */
                        if (!pyro->delay_done) {
@@ -213,7 +224,10 @@ ao_pyro(void)
 
                        ao_pyro_fire(p);
                }
+               if (!any_waiting)
+                       break;
        }
+       ao_exit();
 }
 
 __xdata struct ao_task ao_pyro_task;
@@ -257,6 +271,9 @@ const struct {
        { "t<", ao_pyro_time_less,      offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
        { "t>", ao_pyro_time_greater,   offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)")  },
 
+       { "f<", ao_pyro_state_less,     offsetof(struct ao_pyro, state_less), HELP("state less") },
+       { "f>=",ao_pyro_state_greater_or_equal, offsetof(struct ao_pyro, state_greater_or_equal), HELP("state greater or equal")  },
+
        { "A", ao_pyro_ascending,       NO_VALUE, HELP("ascending") },
        { "D", ao_pyro_descending,      NO_VALUE, HELP("descending") },