first cut at turnon scripts for EasyTimer v2

[fw/altos] / src / kernel / ao_microflight.c

diff --git a/src/kernel/ao_microflight.c b/src/kernel/ao_microflight.c
index df624e7922275b6a2b0f4aef98f6ab59ab9cfe79..bf994b8f80b647f1f56825053e1e0edb1e77e288 100644 (file)
--- a/src/kernel/ao_microflight.c
+++ b/src/kernel/ao_microflight.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -23,6 +24,7 @@
 
 uint32_t       pa;
 uint32_t       pa_ground;
+uint32_t       pa_ground_next;
 uint32_t       pa_min;
 
 static void
@@ -44,7 +46,7 @@ ao_microflight(void)
 {
        int16_t         sample_count;
        int16_t         log_count;
-       uint16_t        time;
+       AO_TICK_TYPE    time;
        uint32_t        pa_interval_min, pa_interval_max;
        int32_t         pa_diff;
        uint8_t         h;
@@ -57,33 +59,43 @@ ao_microflight(void)
        time = ao_time();
        ao_pa_get();
        ao_microkalman_init();
-       pa_ground = pa;
+       pa_ground_next = pa_ground = pa;
        sample_count = 0;
        h = 0;
        for (;;) {
                time += SAMPLE_SLEEP;
+#if BOOST_DETECT
                if ((sample_count & 0x1f) == 0)
                        ao_led_on(AO_LED_REPORT);
+#endif
                ao_delay_until(time);
                ao_microsample();
+#if BOOST_DETECT
                if ((sample_count & 0x1f) == 0)
                        ao_led_off(AO_LED_REPORT);
+#endif
                pa_hist[h] = pa;
                h = SKIP_PA_HIST(h,1);
-               pa_diff = pa_ground - ao_pa;
+               pa_diff = (int32_t) (pa_ground - ao_pa);
 
+#if BOOST_DETECT
                /* Check for a significant pressure change */
                if (pa_diff > BOOST_DETECT)
                        break;
+#endif
 
                if (sample_count < GROUND_AVG * 2) {
                        if (sample_count < GROUND_AVG)
                                pa_sum += pa;
                        ++sample_count;
                } else {
-                       pa_ground = pa_sum >> GROUND_AVG_SHIFT;
+                       pa_ground = pa_ground_next;
+                       pa_ground_next = pa_sum >> GROUND_AVG_SHIFT;
                        pa_sum = 0;
                        sample_count = 0;
+#if !BOOST_DETECT
+                       break;
+#endif
                }
        }
 
@@ -133,7 +145,7 @@ ao_microflight(void)
                        pa_min = ao_pa;
 
                if (sample_count == (GROUND_AVG - 1)) {
-                       pa_diff = pa_interval_max - pa_interval_min;
+                       pa_diff = (int32_t) (pa_interval_max - pa_interval_min);
 
                        /* Check to see if the pressure is now stable */
                        if (pa_diff < LAND_DETECT)