altos: Write tracker logging from tracker thread directly

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

diff --git a/src/kernel/ao_tracker.h b/src/kernel/ao_tracker.h
index 43556965ee2f0442a5cee07934a71117a438e614..1adf0f33ee5efff793732ecda85bd38af6e90f0a 100644 (file)
--- a/src/kernel/ao_tracker.h
+++ b/src/kernel/ao_tracker.h
@@ -21,6 +21,29 @@
 #define AO_CONFIG_DEFAULT_TRACKER_START_HORIZ  1000
 #define AO_CONFIG_DEFAULT_TRACKER_START_VERT   100
 
+/* Speeds for the various modes, 2m/s seems reasonable for 'not moving' */
+#define AO_TRACKER_NOT_MOVING  200
+
+extern int32_t ao_tracker_start_latitude;
+extern int32_t ao_tracker_start_longitude;
+extern int16_t ao_tracker_start_altitude;
+
+#define AO_TRACKER_RING        8
+
+struct ao_tracker_data {
+       uint16_t                        tick;
+       uint8_t                         new;
+       uint8_t                         state;
+       struct ao_telemetry_location    gps_data;
+       struct ao_telemetry_satellite   gps_tracking_data;
+};
+
+extern struct ao_tracker_data  ao_tracker_data[AO_TRACKER_RING];
+extern uint8_t                 ao_tracker_head;
+
+#define ao_tracker_ring_next(n)        (((n) + 1) & (AO_TRACKER_RING-1))
+#define ao_tracker_ring_prev(n)        (((n) - 1) & (AO_TRACKER_RING-1))
+
 void
 ao_tracker_init(void);