X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fmicropeak-v2.0%2Fao_micropeak.c;h=7ba5cb950c240b0084cc22d3b0cb5f908471ee3e;hp=df557e60f1b9168e42e9afe2cb247e25fbe25f23;hb=8ec178bbc3babb072b8d53975632cf6294626e98;hpb=2cdb1f30c49ba460b0850d23ba9c85e0336af290

diff --git a/src/micropeak-v2.0/ao_micropeak.c b/src/micropeak-v2.0/ao_micropeak.c
index df557e60..7ba5cb95 100644
--- a/src/micropeak-v2.0/ao_micropeak.c
+++ b/src/micropeak-v2.0/ao_micropeak.c
@@ -243,6 +243,11 @@ ao_hsi_init(void)
 void
 main(void)
 {
+	int i;
+
+	for (i = 0; i < 100000; i++)
+		ao_arch_nop();
+
 	if (ao_battery_voltage() < 320)
 		ao_on_battery = 1;
 
@@ -257,22 +262,21 @@ main(void)
 	ao_timer_init();
 	ao_serial_init();
 	stm_moder_set(&stm_gpioa, 2, STM_MODER_OUTPUT);
-
 	ao_dma_init();
 	ao_spi_init();
 	ao_exti_init();
 
-	/* Leave USB disabled on battery */
-	if (!ao_on_battery) {
-		ao_usb_init();
-		ao_cmd_init();
-	}
-
 	ao_ms5607_init();
-
 	ao_storage_init();
 
-	ao_add_task(&mp_task, ao_micropeak, "micropeak");
-	ao_cmd_register(mp_cmd);
+	if (ao_on_battery) {
+		/* On battery power, run the flight code */
+		ao_add_task(&mp_task, ao_micropeak, "micropeak");
+	} else {
+		/* otherwise, turn on USB and run the command processor */
+		ao_usb_init();
+		ao_cmd_init();
+		ao_cmd_register(mp_cmd);
+	}
 	ao_start_scheduler();
 }