altos: full logging must flush pending data before checking state

Flight state must be checked only after any pending data have been
written to the log as the 'current' flight state is only valid when
the pending data values have been processed. This ensures that the
'boost' state is not marked until the full ring of data is
written. This ensures that the data processing code can find the
barometer values from before boost to get an idea of the ground
pressure value.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/ao_log_big.c b/src/ao_log_big.c
index 8379ab5f1e36488463db092f93a2933a2b6bf21c..ab6b02f582e88a4b96fbf174d6793d3a949f63d0 100644 (file)
--- a/src/ao_log_big.c
+++ b/src/ao_log_big.c
@@ -72,8 +72,7 @@ typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_record))] ;
 void
 ao_log(void)
 {
-       uint16_t        next_sensor;
-       uint16_t        next_other;
+       uint16_t        next_sensor, next_other;
 
        ao_storage_setup();
 
@@ -83,7 +82,7 @@ ao_log(void)
                ao_sleep(&ao_log_running);
 
        log.type = AO_LOG_FLIGHT;
-       next_other = next_sensor = log.tick = ao_flight_tick;
+       log.tick = ao_flight_tick;
 #if HAS_ACCEL
        log.u.flight.ground_accel = ao_ground_accel;
 #endif
@@ -94,6 +93,8 @@ ao_log(void)
         * when starting up.
         */
        ao_log_adc_pos = ao_adc_ring_next(ao_flight_adc);
+       next_other = next_sensor = ao_adc_ring[ao_log_adc_pos].tick;
+       ao_log_state = ao_flight_startup;
        for (;;) {
                /* Write samples to EEPROM */
                while (ao_log_adc_pos != ao_flight_adc) {
@@ -103,7 +104,7 @@ ao_log(void)
                                log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel;
                                log.u.sensor.pres = ao_adc_ring[ao_log_adc_pos].pres;
                                ao_log_data(&log);
-                               if (ao_flight_state <= ao_flight_coast)
+                               if (ao_log_state <= ao_flight_coast)
                                        next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
                                else
                                        next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
@@ -120,18 +121,18 @@ ao_log(void)
                                next_other = log.tick + AO_OTHER_INTERVAL;
                        }
                        ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos);
-                       /* Write state change to EEPROM */
-                       if (ao_flight_state != ao_log_state) {
-                               ao_log_state = ao_flight_state;
-                               log.type = AO_LOG_STATE;
-                               log.tick = ao_flight_tick;
-                               log.u.state.state = ao_log_state;
-                               log.u.state.reason = 0;
-                               ao_log_data(&log);
-
-                               if (ao_log_state == ao_flight_landed)
-                                       ao_log_stop();
-                       }
+               }
+               /* Write state change to EEPROM */
+               if (ao_flight_state != ao_log_state) {
+                       ao_log_state = ao_flight_state;
+                       log.type = AO_LOG_STATE;
+                       log.tick = ao_flight_tick;
+                       log.u.state.state = ao_log_state;
+                       log.u.state.reason = 0;
+                       ao_log_data(&log);
+
+                       if (ao_log_state == ao_flight_landed)
+                               ao_log_stop();
                }
 
                /* Wait for a while */