Switch from GPLv2 to GPLv2+

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

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index 9febc7f090cb6ac33197b40cc054b9ee216e8a39..4abd309a99b1fa931c0f083f1e2e45606a0067c5 100644 (file)
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -3,7 +3,8 @@
  *
  * 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
@@ -36,9 +37,9 @@ ao_usb_connected(void)
 #endif
 
 struct gps_position {
-       int32_t latitude;
-       int32_t longitude;
-       int16_t altitude;
+       int32_t         latitude;
+       int32_t         longitude;
+       gps_alt_t       altitude;
 };
 
 #define GPS_RING       16
@@ -72,7 +73,7 @@ ao_tracker(void)
 #if !HAS_USB_CONNECT
        ao_tracker_force_telem = 1;
 #endif
-       ao_log_scan();
+       log_started = ao_log_scan();
 
        ao_rdf_set(1);
 
@@ -122,16 +123,17 @@ ao_tracker(void)
                        {
                                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,
                                                                      gps_position[ring].latitude,
                                                                      gps_position[ring].longitude);
-                                       height = gps_position[ring].altitude - gps_data.altitude;
+                                       height = gps_position[ring].altitude - altitude;
                                        if (height < 0)
                                                height = -height;
 
-                                       if (ao_tracker_force_telem)
+                                       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))
@@ -140,7 +142,7 @@ ao_tracker(void)
                                                break;
                                        }
                                }
-                               if (ao_tracker_force_telem) {
+                               if (ao_tracker_force_telem > 1) {
                                        printf ("moving %d started %d\n", moving, log_started);
                                        flush();
                                }
@@ -153,7 +155,7 @@ ao_tracker(void)
                                        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 = gps_data.altitude;
+                                       gps_position[gps_head].altitude = altitude;
                                        gps_head = ao_gps_ring_next(gps_head);
                                        ao_mutex_put(&tracker_mutex);
                                }
@@ -180,8 +182,7 @@ void
 ao_tracker_erase_end(void)
 {
        if (erasing_current) {
-               ao_log_scan();
-               log_started = 0;
+               log_started = ao_log_scan();
                ao_mutex_put(&tracker_mutex);
        }
 }
@@ -191,11 +192,9 @@ 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;
        if (ao_cmd_status == ao_cmd_success)
-               ao_tracker_force_telem = telem;
+               ao_tracker_force_telem = ao_cmd_lex_i;
        ao_cmd_status = ao_cmd_success;
        printf ("flight: %d\n", ao_flight_number);
        printf ("force_telem: %d\n", ao_tracker_force_telem);
@@ -203,7 +202,7 @@ ao_tracker_set_telem(void)
        printf ("log_started: %d\n", log_started);
        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);
@@ -211,7 +210,7 @@ ao_tracker_set_telem(void)
 }
 
 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 },
 };