X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_flight.c;h=e91a5daa74c97cc77f03b6d3030657c6f061a45e;hp=c0f5683047b4d5e3e37dd6d28d14bb9de71295e2;hb=ca5d323a3d206050d95f52a61e92c69e1f54e7b5;hpb=210dbaa23cdacf3a6f2d6e23493e96ee2ac9bca7

diff --git a/src/ao_flight.c b/src/ao_flight.c
index c0f56830..e91a5daa 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -216,7 +216,7 @@ ao_flight(void)
 			ao_old_vel = ao_flight_vel;
 			ao_old_vel_tick = ao_flight_tick;
 
-			/* Go to launchpad state if the nose is pointing up */
+			/* Go to pad state if the nose is pointing up */
 			ao_config_get();
 			if (ao_flight_accel < ao_config.accel_zero_g - ACCEL_NOSE_UP) {
 
@@ -227,22 +227,23 @@ ao_flight(void)
 
 				/* Turn on telemetry system
 				 */
+				ao_rdf_set(1);
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 
-				ao_flight_state = ao_flight_launchpad;
+				ao_flight_state = ao_flight_pad;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			} else {
 				ao_flight_state = ao_flight_idle;
 
-				/* Turn on the Green LED in idle mode
+				/* Turn on packet system in idle mode
 				 */
-				ao_led_on(AO_LED_GREEN);
+				ao_packet_slave_start();
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			}
 			/* signal successful initialization by turning off the LED */
 			ao_led_off(AO_LED_RED);
 			break;
-		case ao_flight_launchpad:
+		case ao_flight_pad:
 
 			/* Trim velocity
 			 *
@@ -277,13 +278,16 @@ ao_flight(void)
 				/* Increase telemetry rate */
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
 
+				/* disable RDF beacon */
+				ao_rdf_set(0);
+
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 				break;
 			}
 			break;
 		case ao_flight_boost:
 
-			/* boost to coast:
+			/* boost to fast:
 			 *
 			 * accelerometer: start to fall at > 1/4 G
 			 *              OR
@@ -296,14 +300,14 @@ ao_flight(void)
 			if (ao_flight_accel > ao_ground_accel + (ACCEL_G >> 2) ||
 			    (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
 			{
-				ao_flight_state = ao_flight_coast;
+				ao_flight_state = ao_flight_fast;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 				break;
 			}
 			break;
-		case ao_flight_coast:
+		case ao_flight_fast:
 
-			/* coast to apogee detect:
+			/* fast to coast:
 			 *
 			 * accelerometer: integrated velocity < 200 m/s
 			 *               OR
@@ -325,13 +329,13 @@ ao_flight(void)
 				 * apogee detect
 				 */
 				ao_min_vel = abs(ao_flight_vel);
-				ao_flight_state = ao_flight_apogee;
+				ao_flight_state = ao_flight_coast;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			}
 			break;
-		case ao_flight_apogee:
+		case ao_flight_coast:
 
-			/* apogee detect to drogue deploy:
+			/* apogee detect: coast to drogue deploy:
 			 *
 			 * accelerometer: abs(velocity) > min_velocity + 2m/s
 			 *               OR
@@ -438,6 +442,8 @@ ao_flight(void)
 
 				/* turn off the ADC capture */
 				ao_timer_set_adc_interval(0);
+				/* Enable RDF beacon */
+				ao_rdf_set(1);
 
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			}
@@ -452,7 +458,7 @@ ao_flight(void)
 #define AO_VEL_COUNT_TO_MS(count)	((int16_t) ((count) / 2700))
 
 static void
-ao_flight_status(void)
+ao_flight_status(void) __reentrant
 {
 	printf("STATE: %7s accel: %d speed: %d altitude: %d main: %d\n",
 	       ao_state_names[ao_flight_state],