*
* 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
static inline uint8_t
ao_usb_connected(void)
{
- return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0;
+ return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN) != 0;
}
#else
#define ao_usb_connected() 1
#endif
-static int32_t last_log_latitude, last_log_longitude;
-static int16_t last_log_altitude;
-static uint8_t unmoving;
+struct gps_position {
+ int32_t latitude;
+ int32_t longitude;
+ gps_alt_t altitude;
+};
+
+#define GPS_RING 16
+
+struct gps_position gps_position[GPS_RING];
+
+#define ao_gps_ring_next(n) (((n) + 1) & (GPS_RING - 1))
+#define ao_gps_ring_prev(n) (((n) - 1) & (GPS_RING - 1))
+
+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;
#if !HAS_USB_CONNECT
ao_tracker_force_telem = 1;
#endif
- ao_log_scan();
- ao_log_start();
+ log_started = ao_log_scan();
ao_rdf_set(1);
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) {
if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
(AO_GPS_VALID|AO_GPS_COURSE_VALID))
{
- if (log_started) {
+ uint8_t ring;
+ uint8_t moving = 0;
+ gps_alt_t altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data);
+
+ for (ring = ao_gps_ring_next(gps_head); ring != gps_head; ring = ao_gps_ring_next(ring)) {
ground_distance = ao_distance(gps_data.latitude, gps_data.longitude,
- last_log_latitude, last_log_longitude);
- height = last_log_altitude - gps_data.altitude;
+ gps_position[ring].latitude,
+ gps_position[ring].longitude);
+ height = gps_position[ring].altitude - altitude;
if (height < 0)
height = -height;
- if (ground_distance <= ao_config.tracker_motion &&
- height <= ao_config.tracker_motion)
+
+ if (ao_tracker_force_telem > 1)
+ printf("head %d ring %d ground_distance %d height %d\n", gps_head, ring, ground_distance, height);
+ if (ground_distance > ao_config.tracker_motion ||
+ height > (ao_config.tracker_motion << 1))
{
- if (unmoving < AO_TRACKER_MOTION_COUNT)
- unmoving++;
- } else
- unmoving = 0;
+ moving = 1;
+ break;
+ }
}
- } else {
- if (!log_started)
- continue;
- if (unmoving < AO_TRACKER_MOTION_COUNT)
- unmoving++;
- }
-
- if (unmoving < AO_TRACKER_MOTION_COUNT) {
- if (!log_started) {
- ao_log_gps_flight();
- log_started = 1;
+ if (ao_tracker_force_telem > 1) {
+ 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;
+ }
+ ao_log_gps_data(gps_tick, &gps_data);
+ gps_position[gps_head].latitude = gps_data.latitude;
+ gps_position[gps_head].longitude = gps_data.longitude;
+ gps_position[gps_head].altitude = altitude;
+ gps_head = ao_gps_ring_next(gps_head);
+ ao_mutex_put(&tracker_mutex);
}
- ao_log_gps_data(gps_tick, &gps_data);
- last_log_latitude = gps_data.latitude;
- last_log_longitude = gps_data.longitude;
- last_log_altitude = gps_data.altitude;
}
}
}
}
+#ifdef AO_LED_GPS_LOCK
+
+static struct ao_task ao_gps_lock_task;
+
+static void
+ao_gps_lock(void)
+{
+ for (;;) {
+ if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+ (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+ {
+ ao_led_for(AO_LED_GPS_LOCK, AO_MS_TO_TICKS(20));
+ }
+ ao_delay(AO_SEC_TO_TICKS(3));
+ }
+}
+#endif
+
+
+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) {
+ log_started = ao_log_scan();
+ ao_mutex_put(&tracker_mutex);
+ }
+}
+
static struct ao_task ao_tracker_task;
static void
ao_tracker_set_telem(void)
{
- uint8_t telem;
- ao_cmd_hex();
- telem = ao_cmd_lex_i;
+ uint16_t r = ao_cmd_hex();
if (ao_cmd_status == ao_cmd_success)
- ao_tracker_force_telem = telem;
+ ao_tracker_force_telem = r;
ao_cmd_status = ao_cmd_success;
printf ("flight: %d\n", ao_flight_number);
printf ("force_telem: %d\n", ao_tracker_force_telem);
+ printf ("tracker_running: %d\n", tracker_running);
printf ("log_started: %d\n", log_started);
- printf ("unmoving: %d\n", unmoving);
printf ("latitude: %ld\n", (long) gps_data.latitude);
printf ("longitude: %ld\n", (long) gps_data.longitude);
- printf ("altitude: %d\n", gps_data.altitude);
+ printf ("altitude: %ld\n", AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data));
printf ("log_running: %d\n", ao_log_running);
printf ("log_start_pos: %ld\n", (long) ao_log_start_pos);
printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos);
}
static const struct ao_cmds ao_tracker_cmds[] = {
- { ao_tracker_set_telem, "t <d>\0Set telem on USB" },
+ { ao_tracker_set_telem, "t <d>\0Set telem on USB (0 off, 1 on, 2 dbg)" },
{ 0, NULL },
};
#endif
ao_cmd_register(&ao_tracker_cmds[0]);
ao_add_task(&ao_tracker_task, ao_tracker, "tracker");
+#ifdef AO_LED_GPS_LOCK
+ ao_add_task(&ao_gps_lock_task, ao_gps_lock, "gps lock");
+#endif
}
projects / fw / altos / blobdiff