X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_flight.c;h=980c16be555f67ca389ff0982690689f894bd99c;hp=f57573d0547b15baf2e804441837dc122db03ab3;hb=876e9a10b9096ead85fbe08ec9a6a0329cf7cbd4;hpb=1c654a9369294c9b8066c33f91161d8005b96680

diff --git a/src/ao_flight.c b/src/ao_flight.c
index f57573d0..980c16be 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -50,6 +50,8 @@ __data uint8_t ao_flight_adc;
 __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres;
 __pdata int16_t ao_accel_2g;
 
+__xdata uint8_t ao_flight_force_idle;
+
 /* Accelerometer calibration
  *
  * We're sampling the accelerometer through a resistor divider which
@@ -221,8 +223,10 @@ ao_flight(void)
 
 			/* Go to pad state if the nose is pointing up */
 			ao_config_get();
-			if (ao_config.accel_plus_g != 0 && ao_config.accel_minus_g != 0 &&
-			    ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP)
+			if (ao_config.accel_plus_g != 0 &&
+			    ao_config.accel_minus_g != 0 &&
+			    ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP &&
+			    !ao_flight_force_idle)
 			{
 				/* Disable the USB controller in flight mode
 				 * to save power
@@ -285,6 +289,10 @@ ao_flight(void)
 				/* disable RDF beacon */
 				ao_rdf_set(0);
 
+				/* Record current GPS position by waking up GPS log tasks */
+				ao_wakeup(&ao_gps_data);
+				ao_wakeup(&ao_gps_tracking_data);
+
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 				break;
 			}