altos/telegps: Create new flight if current flight is erased

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

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index a6ad87a3be2608773fcca68e21676bdcb8d3008a..9febc7f090cb6ac33197b40cc054b9ee216e8a39 100644 (file)
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -50,6 +50,7 @@ struct gps_position   gps_position[GPS_RING];
 
 static uint8_t gps_head;
 
+static uint8_t tracker_mutex;
 static uint8_t log_started;
 static struct ao_telemetry_location gps_data;
 static uint8_t tracker_running;
@@ -100,17 +101,19 @@ ao_tracker(void)
                        tracker_running = 0;
                }
 
-               if (new_tracker_running && !tracker_running) {
+               if (new_tracker_running && !tracker_running)
                        ao_telemetry_set_interval(AO_SEC_TO_TICKS(tracker_interval));
-                       ao_log_start();
-               } else if (!new_tracker_running && tracker_running) {
+               else if (!new_tracker_running && tracker_running)
                        ao_telemetry_set_interval(0);
-                       ao_log_stop();
-               }
 
                tracker_running = new_tracker_running;
 
-               if (!tracker_running)
+               if (new_tracker_running && !ao_log_running)
+                       ao_log_start();
+               else if (!new_tracker_running && ao_log_running)
+                       ao_log_stop();
+
+               if (!ao_log_running)
                        continue;
 
                if (new & AO_GPS_NEW_DATA) {
@@ -138,10 +141,11 @@ ao_tracker(void)
                                        }
                                }
                                if (ao_tracker_force_telem) {
-                                       printf ("moving %d\n", moving);
+                                       printf ("moving %d started %d\n", moving, log_started);
                                        flush();
                                }
                                if (moving) {
+                                       ao_mutex_get(&tracker_mutex);
                                        if (!log_started) {
                                                ao_log_gps_flight();
                                                log_started = 1;
@@ -151,12 +155,37 @@ ao_tracker(void)
                                        gps_position[gps_head].longitude = gps_data.longitude;
                                        gps_position[gps_head].altitude = gps_data.altitude;
                                        gps_head = ao_gps_ring_next(gps_head);
+                                       ao_mutex_put(&tracker_mutex);
                                }
                        }
                }
        }
 }
 
+static uint8_t erasing_current;
+
+void
+ao_tracker_erase_start(uint16_t flight)
+{
+       erasing_current = flight == ao_flight_number;
+       if (erasing_current) {
+               ao_mutex_get(&tracker_mutex);
+               ao_log_stop();
+               if (++ao_flight_number == 0)
+                       ao_flight_number = 1;
+       }
+}
+
+void
+ao_tracker_erase_end(void)
+{
+       if (erasing_current) {
+               ao_log_scan();
+               log_started = 0;
+               ao_mutex_put(&tracker_mutex);
+       }
+}
+
 static struct ao_task ao_tracker_task;
 
 static void