+ uint16_t new_telem_rate;
+ uint8_t new_gps_rate;
+ uint8_t new_telem_enabled;
+ uint32_t ground_distance;
+ int16_t height;
+ uint16_t speed;
+
+ new_gps_rate = gps_rate;
+ new_telem_rate = telem_rate;
+
+ new_telem_enabled = ao_tracker_force_telem || !ao_usb_connected();
+
+ /* Don't change anything if GPS isn't locked */
+ if ((tracker->new & AO_GPS_NEW_DATA) &&
+ (tracker->gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+ (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+ {
+ switch (ao_flight_state) {
+ case ao_flight_startup:
+ new_telem_rate = AO_SEC_TO_TICKS(1);
+ new_gps_rate = 1;
+
+ /* startup to pad when GPS locks */
+
+ lat_sum += tracker->gps_data.latitude;
+ lon_sum += tracker->gps_data.longitude;
+ alt_sum += tracker->gps_data.altitude;
+
+ ++nsamples;
+
+ if (nsamples >= STARTUP_AVERAGE) {
+ ao_flight_state = ao_flight_pad;
+ ao_wakeup(&ao_flight_state);
+ ao_tracker_start_latitude = lat_sum / nsamples;
+ ao_tracker_start_longitude = lon_sum / nsamples;
+ ao_tracker_start_altitude = alt_sum / nsamples;
+ }
+ break;
+ case ao_flight_pad:
+ new_telem_rate = AO_SEC_TO_TICKS(1);
+ new_gps_rate = 1;
+
+ ground_distance = ao_distance(tracker->gps_data.latitude,
+ tracker->gps_data.longitude,
+ ao_tracker_start_latitude,
+ ao_tracker_start_longitude);
+ height = tracker->gps_data.altitude - ao_tracker_start_altitude;
+ if (height < 0)
+ height = -height;
+
+ if (ground_distance >= ao_config.tracker_start_horiz ||
+ height >= ao_config.tracker_start_vert ||
+ ao_tracker_force_launch)
+ {
+ ao_flight_state = ao_flight_drogue;
+ ao_wakeup(&ao_flight_state);
+ ao_tracker_log_pos = ao_tracker_ring_next(ao_tracker_head);
+ ao_log_start();
+ ao_log_gps_flight();
+ }
+ break;
+ case ao_flight_drogue:
+ /* Modulate data rates based on speed (in cm/s) */
+ if (tracker->gps_data.climb_rate < 0)
+ speed = -tracker->gps_data.climb_rate;
+ else
+ speed = tracker->gps_data.climb_rate;
+ speed += tracker->gps_data.ground_speed;
+
+ if (speed < AO_TRACKER_NOT_MOVING) {
+ new_telem_rate = AO_SEC_TO_TICKS(10);
+ new_gps_rate = 10;
+ } else {
+ new_telem_rate = AO_SEC_TO_TICKS(1);
+ new_gps_rate = 1;
+ }
+ break;
+ default:
+ break;
+ }
+ }
+
+ if (new_telem_rate != telem_rate || new_telem_enabled != telem_enabled) {
+ if (new_telem_enabled)
+ ao_telemetry_set_interval(new_telem_rate);
+ else
+ ao_telemetry_set_interval(0);
+ telem_rate = new_telem_rate;
+ telem_enabled = new_telem_enabled;
+ }
+
+ if (new_gps_rate != gps_rate) {
+ ao_gps_set_rate(new_gps_rate);
+ gps_rate = new_gps_rate;
+ }
+}
+
+#if HAS_LOG
+static uint8_t ao_tracker_should_log;
+
+static void
+ao_tracker_log(void)
+{
+ struct ao_tracker_data *tracker;
+
+ if (ao_log_running) {
+ while (ao_tracker_log_pos != ao_tracker_head) {
+ tracker = &ao_tracker_data[ao_tracker_log_pos];
+ if (tracker->new & AO_GPS_NEW_DATA) {
+ ao_tracker_should_log = ao_log_gps_should_log(tracker->gps_data.latitude,
+ tracker->gps_data.longitude,
+ tracker->gps_data.altitude);
+ if (ao_tracker_should_log)
+ ao_log_gps_data(tracker->tick, tracker->state, &tracker->gps_data);
+ }
+ if (tracker->new & AO_GPS_NEW_TRACKING) {
+ if (ao_tracker_should_log)
+ ao_log_gps_tracking(tracker->tick, &tracker->gps_tracking_data);
+ }
+ ao_tracker_log_pos = ao_tracker_ring_next(ao_tracker_log_pos);
+ }
+ }