altos: Make sure we don't beep out continuity twice in idle mode

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

diff --git a/src/kernel/ao_microflight.c b/src/kernel/ao_microflight.c
index f680e4005c98a5cf9be432ed61509f79d1239863..f7521f218cbb376b662c10bb82174a6ad1c75c58 100644 (file)
--- a/src/kernel/ao_microflight.c
+++ b/src/kernel/ao_microflight.c
@@ -43,10 +43,12 @@ void
 ao_microflight(void)
 {
        int16_t         sample_count;
+       int16_t         log_count;
        uint16_t        time;
        uint32_t        pa_interval_min, pa_interval_max;
        int32_t         pa_diff;
-       uint8_t         h, i;
+       uint8_t         h;
+       uint8_t         i;
        uint8_t         accel_lock = 0;
        uint32_t        pa_sum = 0;
 
@@ -60,19 +62,25 @@ ao_microflight(void)
        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;
 
+#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)
@@ -82,6 +90,9 @@ ao_microflight(void)
                        pa_ground = pa_sum >> GROUND_AVG_SHIFT;
                        pa_sum = 0;
                        sample_count = 0;
+#if !BOOST_DETECT
+                       break;
+#endif
                }
        }
 
@@ -93,7 +104,10 @@ ao_microflight(void)
        }
 
        /* Log the remaining samples so we get a complete history since leaving the ground */
-       for (; i != h; i = SKIP_PA_HIST(i,2)) {
+#if LOG_INTERVAL < NUM_PA_HIST
+       for (; i != h; i = SKIP_PA_HIST(i,2))
+#endif
+       {
                pa = pa_hist[i];
                ao_log_micro_data();
        }
@@ -101,6 +115,7 @@ ao_microflight(void)
        /* Now sit around until the pressure is stable again and record the max */
 
        sample_count = 0;
+       log_count = 0;
        pa_min = ao_pa;
        pa_interval_min = ao_pa;
        pa_interval_max = ao_pa;
@@ -112,8 +127,11 @@ ao_microflight(void)
                ao_microsample();
                if ((sample_count & 3) == 0)
                        ao_led_off(AO_LED_REPORT);
-               if (sample_count & 1)
+               if (log_count == LOG_INTERVAL - 1) {
                        ao_log_micro_data();
+                       log_count = 0;
+               } else
+                       log_count++;
 
                /* If accelerating upwards, don't look for min pressure */
                if (ao_pa_accel < ACCEL_LOCK_PA)