X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_flight.c;h=170396ff160ab41473f656d8b125d9b8f593b623;hp=7b3cb9fa6411055667c4fb82844c6582029a4c1b;hb=6023ff81f1bbd240169b9548209133d3b02d475f;hpb=cc83d57454ed07e4828b4413e5af6ae2ecfe2e5a

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 7b3cb9fa..170396ff 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -48,7 +48,8 @@
 /* Main flight thread. */
 
 __pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
-__pdata uint16_t		ao_boost_tick;		/* time of launch detect */
+__pdata uint16_t		ao_boost_tick;		/* time of most recent boost detect */
+__pdata uint16_t		ao_launch_tick;		/* time of first boost detect */
 __pdata uint16_t		ao_motor_number;	/* number of motors burned so far */
 
 #if HAS_SENSOR_ERRORS
@@ -174,7 +175,7 @@ ao_flight(void)
 #endif
 			}
 			/* wakeup threads due to state change */
-			ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+			ao_wakeup(&ao_flight_state);
 
 			break;
 		case ao_flight_pad:
@@ -199,7 +200,7 @@ ao_flight(void)
 				)
 			{
 				ao_flight_state = ao_flight_boost;
-				ao_boost_tick = ao_sample_tick;
+				ao_launch_tick = ao_boost_tick = ao_sample_tick;
 
 				/* start logging data */
 				ao_log_start();
@@ -218,7 +219,7 @@ ao_flight(void)
 				ao_wakeup(&ao_gps_new);
 #endif
 
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				ao_wakeup(&ao_flight_state);
 			}
 			break;
 		case ao_flight_boost:
@@ -243,7 +244,7 @@ ao_flight(void)
 				ao_flight_state = ao_flight_coast;
 #endif
 				++ao_motor_number;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				ao_wakeup(&ao_flight_state);
 			}
 			break;
 #if HAS_ACCEL
@@ -256,7 +257,7 @@ ao_flight(void)
 			if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
 			{
 				ao_flight_state = ao_flight_coast;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				ao_wakeup(&ao_flight_state);
 			} else
 				goto check_re_boost;
 			break;
@@ -269,7 +270,7 @@ ao_flight(void)
 			 * number of seconds.
 			 */
 			if (ao_config.apogee_lockout) {
-				if ((int16_t) (ao_sample_tick - ao_boost_tick) <
+				if ((int16_t) (ao_sample_tick - ao_launch_tick) <
 				    AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 					break;
 			}
@@ -305,7 +306,7 @@ ao_flight(void)
 
 				/* and enter drogue state */
 				ao_flight_state = ao_flight_drogue;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				ao_wakeup(&ao_flight_state);
 			}
 #if HAS_ACCEL
 			else {
@@ -314,7 +315,7 @@ ao_flight(void)
 				if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
 					ao_boost_tick = ao_sample_tick;
 					ao_flight_state = ao_flight_boost;
-					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+					ao_wakeup(&ao_flight_state);
 				}
 			}
 #endif
@@ -351,7 +352,7 @@ ao_flight(void)
 				ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 
 				ao_flight_state = ao_flight_main;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				ao_wakeup(&ao_flight_state);
 			}
 			break;
 
@@ -378,7 +379,7 @@ ao_flight(void)
 					ao_timer_set_adc_interval(0);
 #endif
 
-					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+					ao_wakeup(&ao_flight_state);
 				}
 				ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;