altos: Extend GPS altitudes to at least 24 bits everywhere

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

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index a6ad87a3be2608773fcca68e21676bdcb8d3008a..d94340484a8221248d89068bad9320c141e3fbf0 100644 (file)
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -36,9 +36,9 @@ 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
@@ -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) {
@@ -119,12 +122,13 @@ 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;
 
@@ -138,10 +142,11 @@ 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;
@@ -149,14 +154,39 @@ 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);
                                }
                        }
                }
        }
 }
 
+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
@@ -174,7 +204,7 @@ 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);