altos: Define lat/lon sum variables as 64-bit instead of 16

Oops. 16 bits won't hold position information...

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

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index 4bc229b46463840c5d311cd60e6fe290ecfee632..cdf147cd35bea750819d545f2f7c9c396f56dc6d 100644 (file)
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -52,7 +52,7 @@ static uint16_t       telem_rate;
 static uint8_t gps_rate;
 static uint8_t telem_enabled;
 
-static int16_t lat_sum, lon_sum;
+static int64_t lat_sum, lon_sum;
 static int32_t alt_sum;
 static int     nsamples;
 
@@ -78,13 +78,18 @@ ao_tracker_state_update(struct ao_tracker_data *tracker)
        {
                switch (ao_flight_state) {
                case ao_flight_startup:
+                       new_telem_rate = AO_SEC_TO_TICKS(1);
+                       new_gps_rate = 1;
+
                        /* startup to pad when GPS locks */
 
                        lat_sum += tracker->gps_data.latitude;
                        lon_sum += tracker->gps_data.longitude;
                        alt_sum += tracker->gps_data.altitude;
 
-                       if (++nsamples >= STARTUP_AVERAGE) {
+                       ++nsamples;
+
+                       if (nsamples >= STARTUP_AVERAGE) {
                                ao_flight_state = ao_flight_pad;
                                ao_wakeup(&ao_flight_state);
                                ao_tracker_start_latitude = lat_sum / nsamples;
@@ -93,6 +98,9 @@ ao_tracker_state_update(struct ao_tracker_data *tracker)
                        }
                        break;
                case ao_flight_pad:
+                       new_telem_rate = AO_SEC_TO_TICKS(1);
+                       new_gps_rate = 1;
+
                        ground_distance = ao_distance(tracker->gps_data.latitude,
                                                      tracker->gps_data.longitude,
                                                      ao_tracker_start_latitude,
@@ -190,6 +198,11 @@ ao_tracker(void)
        ao_tracker_force_telem = 1;
 #endif
 
+       nsamples = 0;
+       lat_sum = 0;
+       lon_sum = 0;
+       alt_sum = 0;
+
        ao_log_scan();
 
        ao_rdf_set(1);
@@ -231,11 +244,16 @@ static struct ao_task ao_tracker_task;
 static void
 ao_tracker_set_telem(void)
 {
+       uint8_t telem, launch;
+       ao_cmd_hex();
+       telem = ao_cmd_lex_i;
        ao_cmd_hex();
+       launch = ao_cmd_lex_i;
        if (ao_cmd_status == ao_cmd_success) {
-               ao_tracker_force_telem = (ao_cmd_lex_i & 1) != 0;
-               ao_tracker_force_launch = (ao_cmd_lex_i & 2) != 0;
+               ao_tracker_force_telem = telem;
+               ao_tracker_force_launch = launch;
        }
+       ao_cmd_status = ao_cmd_success;
        printf ("flight %d force telem %d force launch %d\n",
                ao_flight_number, ao_tracker_force_telem, ao_tracker_force_launch);
 }