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altos: Use max of 64 previous orient values when checking pyro limits
[fw/altos]
/
src
/
kernel
/
ao_pyro.c
diff --git
a/src/kernel/ao_pyro.c
b/src/kernel/ao_pyro.c
index e5c30eec42da6e1504880684f773da59760bd482..5a556d594c75b5b8947d49757d68deb3a58bab5c 100644
(file)
--- a/
src/kernel/ao_pyro.c
+++ b/
src/kernel/ao_pyro.c
@@
-81,6
+81,19
@@
int pyro_dbg;
#define DBG(...)
#endif
#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
/*
* 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;
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) {
flags = pyro->flags;
while (flags != ao_pyro_none) {
@@
-130,14
+146,16
@@
ao_pyro_ready(struct ao_pyro *pyro)
#if HAS_GYRO
case ao_pyro_orient_less:
#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;
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:
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;
continue;
- DBG("orient %d < %d\n",
ao_sample
_orient, pyro->orient_greater);
+ DBG("orient %d < %d\n",
max
_orient, pyro->orient_greater);
break;
#endif
break;
#endif