--- /dev/null
+/*
+ * Copyright © 2014 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_flight.h>
+#include <ao_distance.h>
+#include <ao_exti.h>
+
+enum ao_flight_state ao_flight_state;
+
+/* Speeds for the various modes */
+#define AO_TRACKER_NOT_MOVING 100
+
+static uint8_t ao_tracker_force_telem;
+
+#if HAS_USB_CONNECT
+static inline uint8_t
+ao_usb_connected(void)
+{
+ return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0;
+}
+#else
+#define ao_usb_connected() 1
+#endif
+
+static void
+ao_tracker(void)
+{
+ uint16_t telem_rate = AO_SEC_TO_TICKS(1), new_telem_rate;
+ uint8_t gps_rate = 1, new_gps_rate;
+ uint8_t telem_enabled = 1, new_telem_enabled;
+ int32_t start_latitude = 0, start_longitude = 0;
+ int16_t start_altitude = 0;
+ uint32_t ground_distance;
+ int16_t height;
+ uint16_t speed;
+
+ ao_timer_set_adc_interval(100);
+
+ ao_flight_state = ao_flight_startup;
+ for (;;) {
+ ao_sleep(&ao_gps_new);
+
+ new_gps_rate = gps_rate;
+ new_telem_rate = telem_rate;
+
+ new_telem_enabled = ao_tracker_force_telem || !ao_usb_connected();
+
+ ao_mutex_get(&ao_gps_mutex);
+
+ /* Don't change anything if GPS isn't locked */
+ if ((ao_gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+ (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+ {
+ switch (ao_flight_state) {
+ case ao_flight_startup:
+ /* startup to pad when GPS locks */
+ ao_flight_state = ao_flight_pad;
+ start_latitude = ao_gps_data.longitude;
+ start_longitude = ao_gps_data.latitude;
+ start_altitude = ao_gps_data.altitude;
+ break;
+ case ao_flight_pad:
+ ground_distance = ao_distance(ao_gps_data.latitude,
+ start_latitude,
+ ao_gps_data.longitude,
+ start_longitude);
+ height = ao_gps_data.altitude - start_altitude;
+ if (height < 0)
+ height = -height;
+ if (ground_distance >= ao_config.tracker_start_horiz ||
+ height >= ao_config.tracker_start_vert)
+ {
+ ao_flight_state = ao_flight_drogue;
+ ao_log_start();
+ }
+ break;
+ case ao_flight_drogue:
+
+ /* Modulate data rates based on speed (in cm/s) */
+ if (ao_gps_data.climb_rate < 0)
+ speed = -ao_gps_data.climb_rate;
+ else
+ speed = ao_gps_data.climb_rate;
+ speed += ao_gps_data.ground_speed;
+
+ if (speed < AO_TRACKER_NOT_MOVING) {
+ new_telem_rate = AO_SEC_TO_TICKS(10);
+ new_gps_rate = 10;
+ } else {
+ new_telem_rate = AO_SEC_TO_TICKS(1);
+ new_gps_rate = 1;
+ }
+ break;
+ default:
+ break;
+ }
+ }
+ ao_mutex_put(&ao_gps_mutex);
+
+ if (new_telem_rate != telem_rate || new_telem_enabled != telem_enabled) {
+ if (new_telem_enabled)
+ ao_telemetry_set_interval(new_telem_rate);
+ else
+ ao_telemetry_set_interval(0);
+ telem_rate = new_telem_rate;
+ telem_enabled = new_telem_enabled;
+ }
+
+ if (new_gps_rate != gps_rate) {
+ ao_gps_set_rate(new_gps_rate);
+ gps_rate = new_gps_rate;
+ }
+ }
+}
+
+static struct ao_task ao_tracker_task;
+
+static void
+ao_tracker_set_telem(void)
+{
+ ao_cmd_hex();
+ if (ao_cmd_status == ao_cmd_success)
+ ao_tracker_force_telem = ao_cmd_lex_i;
+}
+
+static const struct ao_cmds ao_tracker_cmds[] = {
+ { ao_tracker_set_telem, "t <d>\0Set telem on USB" },
+ { 0, NULL },
+};
+
+void
+ao_tracker_init(void)
+{
+#if HAS_USB_CONNECT
+ ao_enable_input(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, 0);
+#endif
+ ao_cmd_register(&ao_tracker_cmds[0]);
+ ao_add_task(&ao_tracker_task, ao_tracker, "tracker");
+}