altos: Add debug to tracker to force launch

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

diff --git a/src/product/ao_tracker.c b/src/product/ao_tracker.c
index 5c2bb73ffa29475bd2a2f71dccb2734d23e5ed43..c1c3366cf08b6c25e4efac94d4f353bdff0773f5 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
@@ -37,6 +38,8 @@ ao_usb_connected(void)
 #define ao_usb_connected()     1
 #endif
 
+#define STARTUP_AVERAGE        5
+
 static void
 ao_tracker(void)
 {
@@ -48,8 +51,19 @@ ao_tracker(void)
        uint32_t        ground_distance;
        int16_t         height;
        uint16_t        speed;
+       int64_t         lat_sum = 0, lon_sum = 0;
+       int32_t         alt_sum = 0;
+       int             nsamples = 0;
 
+#if HAS_ADC
        ao_timer_set_adc_interval(100);
+#endif
+
+       ao_log_scan();
+
+       ao_rdf_set(1);
+
+       ao_telemetry_set_interval(0);
 
        ao_flight_state = ao_flight_startup;
        for (;;) {
@@ -69,23 +83,34 @@ ao_tracker(void)
                        switch (ao_flight_state) {
                        case ao_flight_startup:
                                /* startup to pad when GPS locks */
-                               ao_flight_state = ao_flight_pad;
-                               start_latitude = ao_gps_data.longitude;
-                               start_longitude = ao_gps_data.latitude;
-                               start_altitude = ao_gps_data.altitude;
+
+                               lat_sum += ao_gps_data.latitude;
+                               lon_sum += ao_gps_data.longitude;
+                               alt_sum += ao_gps_data.altitude;
+
+                               if (++nsamples >= STARTUP_AVERAGE) {
+                                       ao_flight_state = ao_flight_pad;
+                                       ao_wakeup(&ao_flight_state);
+                                       start_latitude = lat_sum / nsamples;
+                                       start_longitude = lon_sum / nsamples;
+                                       start_altitude = alt_sum / nsamples;
+                               }
                                break;
                        case ao_flight_pad:
                                ground_distance = ao_distance(ao_gps_data.latitude,
-                                                             start_latitude,
                                                              ao_gps_data.longitude,
+                                                             start_latitude,
                                                              start_longitude);
                                height = ao_gps_data.altitude - start_altitude;
                                if (height < 0)
                                        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();
                                }
                                break;
@@ -134,8 +159,11 @@ 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[] = {