X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao_log.c;h=107c4323b53d41cab23df34a9324e8d99e23fc6c;hp=1b473c14eb1d6f3702696c399260c944517d34d1;hb=93d7ce8e054515ed7b166eb042ae7f47e564d21d;hpb=d1887ded41a5bfec8e10e9fd736fa9444b9b6222

diff --git a/ao_log.c b/ao_log.c
index 1b473c14..107c4323 100644
--- a/ao_log.c
+++ b/ao_log.c
@@ -121,19 +121,15 @@ ao_log(void)
 	
 	log.type = AO_LOG_FLIGHT;
 	log.tick = ao_flight_tick;
-	log.u.flight.serial = 0;
+	log.u.flight.ground_accel = ao_ground_accel;
 	log.u.flight.flight = ao_log_dump_flight + 1;
 	ao_log_data(&log);
+
+	/* Write the whole contents of the ring to the log
+	 * when starting up.
+	 */
+	ao_log_adc_pos = ao_adc_ring_next(ao_adc_head);
 	for (;;) {
-		/* Write state change to EEPROM */
-		if (ao_flight_state != ao_log_state) {
-			ao_log_state = ao_flight_state;
-			log.type = AO_LOG_STATE;
-			log.tick = ao_flight_tick;
-			log.u.state.state = ao_log_state;
-			log.u.state.reason = 0;
-			ao_log_data(&log);
-		}
 		/* Write samples to EEPROM */
 		while (ao_log_adc_pos != ao_adc_head) {
 			log.type = AO_LOG_SENSOR;
@@ -153,13 +149,27 @@ ao_log(void)
 				log.u.deploy.main = ao_adc_ring[ao_log_adc_pos].sense_m;
 				ao_log_data(&log);
 			}
-			ao_log_adc_pos++;
-			if (ao_log_adc_pos == AO_ADC_RING)
-				ao_log_adc_pos = 0;
+			ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos);
+		}
+		/* Write state change to EEPROM */
+		if (ao_flight_state != ao_log_state) {
+			ao_log_state = ao_flight_state;
+			log.type = AO_LOG_STATE;
+			log.tick = ao_flight_tick;
+			log.u.state.state = ao_log_state;
+			log.u.state.reason = 0;
+			ao_log_data(&log);
+
+			if (ao_log_state == ao_flight_landed)
+				ao_log_stop();
 		}
 		
 		/* Wait for a while */
 		ao_delay(AO_MS_TO_TICKS(100));
+
+		/* Stop logging when told to */
+		while (!ao_log_running)
+			ao_sleep(&ao_log_running);
 	}
 }