altos: Add separate 'ao_launch_tick'. Use in pyro and lockout.

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

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index e5c30eec42da6e1504880684f773da59760bd482..527112acfbfcbc1332464966f95ed5c47cbfac54 100644 (file)
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -81,6 +81,19 @@ int pyro_dbg;
 #define DBG(...)
 #endif
 
+static angle_t
+ao_sample_max_orient(void)
+{
+       uint8_t i;
+       angle_t max = ao_sample_orients[0];
+
+       for (i = 1; i < AO_NUM_ORIENT; i++) {
+               angle_t a = ao_sample_orients[i];
+               if (a > max)
+                       max = a;
+       }
+       return max;
+}
 /*
  * Given a pyro structure, figure out
  * if the current flight state satisfies all
@@ -90,6 +103,9 @@ static uint8_t
 ao_pyro_ready(struct ao_pyro *pyro)
 {
        enum ao_pyro_flag flag, flags;
+#if HAS_GYRO
+       angle_t max_orient;
+#endif
 
        flags = pyro->flags;
        while (flags != ao_pyro_none) {
@@ -130,26 +146,28 @@ ao_pyro_ready(struct ao_pyro *pyro)
 
 #if HAS_GYRO
                case ao_pyro_orient_less:
-                       if (ao_sample_orient <= pyro->orient_less)
+                       max_orient = ao_sample_max_orient();
+                       if (max_orient <= pyro->orient_less)
                                continue;
-                       DBG("orient %d > %d\n", ao_sample_orient, pyro->orient_less);
+                       DBG("orient %d > %d\n", max_orient, pyro->orient_less);
                        break;
                case ao_pyro_orient_greater:
-                       if (ao_sample_orient >= pyro->orient_greater)
+                       max_orient = ao_sample_max_orient();
+                       if (max_orient >= pyro->orient_greater)
                                continue;
-                       DBG("orient %d < %d\n", ao_sample_orient, pyro->orient_greater);
+                       DBG("orient %d < %d\n", max_orient, pyro->orient_greater);
                        break;
 #endif
 
                case ao_pyro_time_less:
-                       if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
+                       if ((int16_t) (ao_time() - ao_launch_tick) <= pyro->time_less)
                                continue;
-                       DBG("time %d > %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_less);
+                       DBG("time %d > %d\n", (int16_t)(ao_time() - ao_launch_tick), pyro->time_less);
                        break;
                case ao_pyro_time_greater:
-                       if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater)
+                       if ((int16_t) (ao_time() - ao_launch_tick) >= pyro->time_greater)
                                continue;
-                       DBG("time %d < %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_greater);
+                       DBG("time %d < %d\n", (int16_t)(ao_time() - ao_launch_tick), pyro->time_greater);
                        break;
 
                case ao_pyro_ascending:
@@ -164,7 +182,7 @@ ao_pyro_ready(struct ao_pyro *pyro)
                        break;
 
                case ao_pyro_after_motor:
-                       if (ao_motor_number == pyro->motor)
+                       if (ao_motor_number >= pyro->motor)
                                continue;
                        DBG("motor %d != %d\n", ao_motor_number, pyro->motor);
                        break;