altos: Add AO_LOG_FLIGHT packet to TeleGPS logs

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

diff --git a/src/product/ao_tracker.c b/src/product/ao_tracker.c
index b4e563ee66d8211998a9d04e6165c2ffd7e1eccf..9666528b5a2475426355ff26a4ef7321557bc757 100644 (file)
--- a/src/product/ao_tracker.c
+++ b/src/product/ao_tracker.c
@@ -26,6 +26,7 @@ enum ao_flight_state  ao_flight_state;
 #define AO_TRACKER_NOT_MOVING  200
 
 static uint8_t ao_tracker_force_telem;
+static uint8_t ao_tracker_force_launch;
 
 #if HAS_USB_CONNECT
 static inline uint8_t
@@ -39,6 +40,31 @@ ao_usb_connected(void)
 
 #define STARTUP_AVERAGE        5
 
+static void
+ao_tracker_start_flight(void)
+{
+       struct ao_log_mega log;
+       ao_log_start();
+       log.type = AO_LOG_FLIGHT;
+       log.tick = ao_time();
+#if HAS_ACCEL
+       log.u.flight.ground_accel = ao_ground_accel;
+#endif
+#if HAS_GYRO
+       log.u.flight.ground_accel_along = ao_ground_accel_along;
+       log.u.flight.ground_accel_across = ao_ground_accel_across;
+       log.u.flight.ground_accel_through = ao_ground_accel_through;
+       log.u.flight.ground_roll = ao_ground_roll;
+       log.u.flight.ground_pitch = ao_ground_pitch;
+       log.u.flight.ground_yaw = ao_ground_yaw;
+#endif
+#if HAS_FLIGHT
+       log.u.flight.ground_pres = ao_ground_pres;
+#endif
+       log.u.flight.flight = ao_flight_number;
+       ao_log_mega(&log);
+}
+
 static void
 ao_tracker(void)
 {
@@ -105,14 +131,16 @@ ao_tracker(void)
                                        height = -height;
 
                                if (ground_distance >= ao_config.tracker_start_horiz ||
-                                   height >= ao_config.tracker_start_vert)
+                                   height >= ao_config.tracker_start_vert ||
+                                   ao_tracker_force_launch)
                                {
                                        ao_flight_state = ao_flight_drogue;
+                                       ao_wakeup(&ao_flight_state);
                                        ao_log_start();
+                                       ao_tracker_start_flight();
                                }
                                break;
                        case ao_flight_drogue:
-
                                /* Modulate data rates based on speed (in cm/s) */
                                if (ao_gps_data.climb_rate < 0)
                                        speed = -ao_gps_data.climb_rate;
@@ -156,8 +184,11 @@ static void
 ao_tracker_set_telem(void)
 {
        ao_cmd_hex();
-       if (ao_cmd_status == ao_cmd_success)
-               ao_tracker_force_telem = ao_cmd_lex_i;
+       if (ao_cmd_status == ao_cmd_success) {
+               ao_tracker_force_telem = (ao_cmd_lex_i & 1) != 0;
+               ao_tracker_force_launch = (ao_cmd_lex_i & 2) != 0;
+               printf ("force telem %d force launch %d\n", ao_tracker_force_telem, ao_tracker_force_launch);
+       }
 }
 
 static const struct ao_cmds ao_tracker_cmds[] = {