Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

18 files changed, 433 insertions, 99 deletions

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 4edae54a..cf4fb9b0 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -1358,11 +1358,6 @@ public class AltosState implements Cloneable, Serializable {
 		}
 	}
 
-	public void make_companion (int nchannels) {
-		if (companion == null)
-			companion = new AltosCompanion(nchannels);
-	}
-
 	public void set_companion(AltosCompanion companion) {
 		this.companion = companion;
 	}
diff --git a/altoslib/AltosTelemetryCompanion.java b/altoslib/AltosTelemetryCompanion.java
new file mode 100644
index 00000000..96125aca
--- /dev/null
+++ b/altoslib/AltosTelemetryCompanion.java
@@ -0,0 +1,54 @@
+/*
+ * Copyright © 2015 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.
+ */
+
+package org.altusmetrum.altoslib_8;
+
+public class AltosTelemetryCompanion extends AltosTelemetryStandard {
+	AltosCompanion	companion;
+
+	static final public int max_channels = 12;
+
+	public AltosTelemetryCompanion(int[] bytes) {
+		super(bytes);
+
+		int	channels = uint8(7);
+
+		if (channels > max_channels)
+			channels = max_channels;
+
+		companion = new AltosCompanion(channels);
+
+		companion.tick = tick;
+		companion.board_id = uint8(5);
+		companion.update_period = uint8(6);
+
+		if (channels == 0)
+			companion.companion_data = null;
+		else {
+			companion.companion_data = new int[channels];
+
+			for (int i = 0; i < channels; i++)
+				companion.companion_data[i] = uint16(8 + i * 2);
+		}
+	}
+
+	public void update_state(AltosState state) {
+		super.update_state(state);
+
+		state.set_companion(companion);
+	}
+}
diff --git a/altoslib/AltosTelemetryStandard.java b/altoslib/AltosTelemetryStandard.java
index 27561826..c2a5ab3c 100644
--- a/altoslib/AltosTelemetryStandard.java
+++ b/altoslib/AltosTelemetryStandard.java
@@ -68,11 +68,9 @@ public abstract class AltosTelemetryStandard extends AltosTelemetry {
 		case packet_type_satellite:
 			telem = new AltosTelemetrySatellite(bytes);
 			break;
-/*
 		case packet_type_companion:
 			telem = new AltosTelemetryCompanion(bytes);
 			break;
-*/
 		case packet_type_mega_sensor:
 			telem = new AltosTelemetryMegaSensor(bytes);
 			break;
diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am
index a6b178fa..d1f8f265 100644
--- a/altoslib/Makefile.am
+++ b/altoslib/Makefile.am
@@ -96,6 +96,7 @@ altoslib_JAVA = \
 	AltosStateUpdate.java \
 	AltosTelemetry.java \
 	AltosTelemetryConfiguration.java \
+	AltosTelemetryCompanion.java \
 	AltosTelemetryFile.java \
 	AltosTelemetryIterable.java \
 	AltosTelemetryLegacy.java \
diff --git a/ao-tools/ao-telem/ao-telem.c b/ao-tools/ao-telem/ao-telem.c
index da873838..05a69542 100644
--- a/ao-tools/ao-telem/ao-telem.c
+++ b/ao-tools/ao-telem/ao-telem.c
@@ -173,6 +173,15 @@ main (int argc, char **argv)
 						telem.mega_sensor.mag_y,
 						telem.mega_sensor.mag_z);
 					break;
+				case AO_TELEMETRY_COMPANION:
+					printf("board_id %3d update_period %3d channels %2d",
+					       telem.companion.board_id,
+					       telem.companion.update_period,
+					       telem.companion.channels);
+					for (c = 0; c < telem.companion.channels; c++)
+						printf(" %6d", telem.companion.companion_data[c]);
+					printf("\n");
+					break;
 				case AO_TELEMETRY_MEGA_DATA:
 					printf ("state %1d v_batt %5d v_pyro %5d ",
 						telem.mega_data.state,
@@ -182,7 +191,7 @@ main (int argc, char **argv)
 						printf ("s%1d %5d ", c,
 							telem.mega_data.sense[c] |
 							(telem.mega_data.sense[c] << 8));
-					
+
 					printf ("ground_pres %5d ground_accel %5d accel_plus %5d accel_minus %5d ",
 						telem.mega_data.ground_pres,
 						telem.mega_data.ground_accel,
diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 7e02939b..5f07e8b0 100644
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -23,6 +23,10 @@
 #define ao_spi_fast(b)
 #endif
 
+#if !HAS_COMPANION
+#error HAS_COMPANION not set in ao_companion.c
+#endif
+
 #define COMPANION_SELECT()	do {			\
 		ao_spi_get_bit(AO_COMPANION_CS_PORT,	\
 			       AO_COMPANION_CS_PIN,	\
diff --git a/src/drivers/ao_lco.c b/src/drivers/ao_lco.c
index b8698a80..8180c49d 100644
--- a/src/drivers/ao_lco.c
+++ b/src/drivers/ao_lco.c
@@ -36,28 +36,42 @@ static uint8_t	ao_lco_debug;
 #define AO_LCO_BOX_DIGIT_1	1
 #define AO_LCO_BOX_DIGIT_10	2
 
+#define AO_LCO_DRAG_RACE_START_TIME	AO_SEC_TO_TICKS(5)
+#define AO_LCO_DRAG_RACE_STOP_TIME	AO_SEC_TO_TICKS(2)
+
 static uint8_t	ao_lco_min_box, ao_lco_max_box;
-static uint8_t	ao_lco_pad;
-static uint8_t	ao_lco_box;
+static uint8_t	ao_lco_selected[AO_PAD_MAX_BOXES];
+static uint8_t	ao_lco_valid[AO_PAD_MAX_BOXES];
+static uint8_t	ao_lco_channels[AO_PAD_MAX_BOXES];
+static uint16_t	ao_lco_tick_offset[AO_PAD_MAX_BOXES];
+
+/* UI values */
 static uint8_t	ao_lco_armed;
 static uint8_t	ao_lco_firing;
-static uint8_t	ao_lco_valid;
-static uint8_t	ao_lco_got_channels;
-static uint16_t	ao_lco_tick_offset;
-
+static uint16_t	ao_lco_fire_tick;
+static uint8_t	ao_lco_fire_down;
+static uint8_t	ao_lco_drag_race;
+static uint8_t	ao_lco_pad;
+static uint8_t	ao_lco_box;
 static struct ao_pad_query	ao_pad_query;
 
+static uint8_t	ao_lco_display_mutex;
+
 static void
 ao_lco_set_pad(uint8_t pad)
 {
-	ao_seven_segment_set(AO_LCO_PAD_DIGIT, pad);
+	ao_mutex_get(&ao_lco_display_mutex);
+	ao_seven_segment_set(AO_LCO_PAD_DIGIT, pad | (ao_lco_drag_race << 4));
+	ao_mutex_put(&ao_lco_display_mutex);
 }
 
 static void
 ao_lco_set_box(uint8_t box)
 {
-	ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, box % 10);
-	ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, box / 10);
+	ao_mutex_get(&ao_lco_display_mutex);
+	ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, box % 10 | (ao_lco_drag_race << 4));
+	ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, box / 10 | (ao_lco_drag_race << 4));
+	ao_mutex_put(&ao_lco_display_mutex);
 }
 
 static void
@@ -68,9 +82,11 @@ ao_lco_set_voltage(uint16_t decivolts)
 	tenths = decivolts % 10;
 	ones = (decivolts / 10) % 10;
 	tens = (decivolts / 100) % 10;
+	ao_mutex_get(&ao_lco_display_mutex);
 	ao_seven_segment_set(AO_LCO_PAD_DIGIT, tenths);
 	ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, ones | 0x10);
 	ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, tens);
+	ao_mutex_put(&ao_lco_display_mutex);
 }
 
 static void
@@ -84,6 +100,33 @@ ao_lco_set_display(void)
 	}
 }
 
+#define SEVEN_SEGMENT_d		((0 << 0) |	\
+				 (0 << 1) |	\
+				 (1 << 2) |	\
+				 (1 << 3) |	\
+				 (1 << 4) |	\
+				 (1 << 5) |	\
+				 (1 << 6))
+
+
+#define SEVEN_SEGMENT_r		((0 << 0) |	\
+				 (0 << 1) |	\
+				 (0 << 2) |	\
+				 (1 << 3) |	\
+				 (1 << 4) |	\
+				 (0 << 5) |	\
+				 (0 << 6))
+
+static void
+ao_lco_set_display_drag(void)
+{
+	ao_mutex_get(&ao_lco_display_mutex);
+	ao_seven_segment_direct(AO_LCO_BOX_DIGIT_10, SEVEN_SEGMENT_d | 0x80);
+	ao_seven_segment_direct(AO_LCO_BOX_DIGIT_1, SEVEN_SEGMENT_r | 0x80);
+	ao_mutex_put(&ao_lco_display_mutex);
+	ao_lco_set_pad(ao_lco_pad);
+}
+
 #define MASK_SIZE(n)	(((n) + 7) >> 3)
 #define MASK_ID(n)	((n) >> 3)
 #define MASK_SHIFT(n)	((n) & 7)
@@ -99,29 +142,211 @@ ao_lco_box_present(uint8_t box)
 }
 
 static uint8_t
-ao_lco_pad_present(uint8_t pad)
+ao_lco_pad_present(uint8_t box, uint8_t pad)
 {
-	if (!ao_lco_got_channels || !ao_pad_query.channels)
-		return pad == 0;
 	/* voltage measurement is always valid */
 	if (pad == 0)
 		return 1;
+	if (!ao_lco_channels[box])
+		return 0;
 	if (pad > AO_PAD_MAX_CHANNELS)
 		return 0;
-	return (ao_pad_query.channels >> (pad - 1)) & 1;
+	return (ao_lco_channels[box] >> (pad - 1)) & 1;
 }
 
 static uint8_t
-ao_lco_pad_first(void)
+ao_lco_pad_first(uint8_t box)
 {
 	uint8_t	pad;
 
 	for (pad = 1; pad <= AO_PAD_MAX_CHANNELS; pad++)
-		if (ao_lco_pad_present(pad))
+		if (ao_lco_pad_present(box, pad))
 			return pad;
 	return 0;
 }
 
+static struct ao_task	ao_lco_drag_task;
+static uint8_t		ao_lco_drag_active;
+static uint8_t		ao_lco_drag_beep_count;
+static uint8_t		ao_lco_drag_beep_on;
+static uint16_t		ao_lco_drag_beep_time;
+static uint16_t		ao_lco_drag_warn_time;
+static uint16_t		ao_lco_drag_display_time;
+static uint8_t		ao_lco_drag_display_on;
+
+#define AO_LCO_DRAG_BEEP_TIME	AO_MS_TO_TICKS(50)
+#define AO_LCO_DRAG_WARN_TIME	AO_SEC_TO_TICKS(5)
+
+static void
+ao_lco_drag_beep_start(void)
+{
+	ao_beep(AO_BEEP_HIGH);
+	PRINTD("beep start\n");
+	ao_lco_drag_beep_on = 1;
+	ao_lco_drag_beep_time = ao_time() + AO_LCO_DRAG_BEEP_TIME;
+}
+
+static void
+ao_lco_drag_beep_stop(void)
+{
+	ao_beep(0);
+	PRINTD("beep stop\n");
+	ao_lco_drag_beep_on = 0;
+	if (ao_lco_drag_beep_count) {
+		--ao_lco_drag_beep_count;
+		if (ao_lco_drag_beep_count)
+			ao_lco_drag_beep_time = ao_time() + AO_LCO_DRAG_BEEP_TIME;
+	}
+}
+
+static void
+ao_lco_drag_beep(uint8_t beeps)
+{
+	PRINTD("beep %d\n", beeps);
+	if (!ao_lco_drag_beep_count)
+		ao_lco_drag_beep_start();
+	ao_lco_drag_beep_count += beeps;
+}
+
+static uint16_t
+ao_lco_drag_beep_check(uint16_t now, uint16_t delay)
+{
+	PRINTD("beep check count %d delta %d\n",
+	       ao_lco_drag_beep_count,
+	       (int16_t) (now - ao_lco_drag_beep_time));
+	if (ao_lco_drag_beep_count) {
+		if ((int16_t) (now - ao_lco_drag_beep_time) >= 0) {
+			if (ao_lco_drag_beep_on)
+				ao_lco_drag_beep_stop();
+			else
+				ao_lco_drag_beep_start();
+		}
+	}
+
+	if (ao_lco_drag_beep_count) {
+		if (delay > AO_LCO_DRAG_BEEP_TIME)
+			delay = AO_LCO_DRAG_BEEP_TIME;
+	}
+	return delay;
+}
+
+static void
+ao_lco_drag_enable(void)
+{
+	PRINTD("Drag enable\n");
+	ao_lco_drag_race = 1;
+	memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
+	ao_lco_drag_beep(5);
+	ao_lco_set_display_drag();
+	ao_lco_fire_down = 0;
+	ao_lco_drag_display_on = 1;
+	ao_lco_drag_display_time = ao_time() + AO_SEC_TO_TICKS(5);
+}
+
+static void
+ao_lco_drag_disable(void)
+{
+	PRINTD("Drag disable\n");
+	ao_lco_drag_race = 0;
+	memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
+	ao_lco_drag_beep(2);
+	ao_lco_set_display();
+	ao_lco_fire_down = 0;
+}
+
+static uint16_t
+ao_lco_drag_button_check(uint16_t now, uint16_t delay)
+{
+	uint16_t	button_delay = ~0;
+
+	/*
+	 * Check to see if the button has been held down long enough
+	 * to switch in/out of drag race mode
+	 */
+	if (ao_lco_fire_down) {
+		if (ao_lco_drag_race) {
+			if ((int16_t) (now - ao_lco_fire_tick) >= AO_LCO_DRAG_RACE_STOP_TIME)
+				ao_lco_drag_disable();
+			else
+				button_delay = ao_lco_fire_tick + AO_LCO_DRAG_RACE_STOP_TIME - now;
+		} else {
+			if ((int16_t) (now - ao_lco_fire_tick) >= AO_LCO_DRAG_RACE_START_TIME)
+				ao_lco_drag_enable();
+			else
+				button_delay = ao_lco_fire_tick + AO_LCO_DRAG_RACE_START_TIME - now;
+		}
+		if (delay > button_delay)
+			delay = button_delay;
+	}
+	return delay;
+}
+
+static uint16_t
+ao_lco_drag_warn_check(uint16_t now, uint16_t delay)
+{
+	uint16_t	warn_delay = ~0;
+
+	if (ao_lco_drag_race) {
+		if ((int16_t) (now - ao_lco_drag_warn_time) >= 0) {
+			ao_lco_drag_beep(1);
+			ao_lco_drag_warn_time = now + AO_LCO_DRAG_WARN_TIME;
+		}
+		warn_delay = ao_lco_drag_warn_time - now;
+	}
+	if (delay > warn_delay)
+		delay = warn_delay;
+	return delay;
+}
+
+static uint16_t
+ao_lco_drag_display_check(uint16_t now, uint16_t delay)
+{
+	uint16_t	display_delay;
+
+	if (ao_lco_drag_display_on) {
+		if ((int16_t) (now - ao_lco_drag_display_time) >= 0) {
+			ao_lco_drag_display_on = 0;
+			ao_lco_set_display();
+		} else {
+			display_delay = ao_lco_drag_display_time - now;
+			if (delay > display_delay)
+				delay = display_delay;
+		}
+	}
+	return delay;
+}
+
+static void
+ao_lco_drag_monitor(void)
+{
+	uint16_t	delay = ~0;
+	uint16_t	now;
+
+	for (;;) {
+		PRINTD("Drag monitor active %d delay %d\n", ao_lco_drag_active, delay);
+		if (delay == (uint16_t) ~0)
+			ao_sleep(&ao_lco_drag_active);
+		else
+			ao_sleep_for(&ao_lco_drag_active, delay);
+
+		delay = ~0;
+		if (!ao_lco_drag_active)
+			continue;
+
+		now = ao_time();
+		delay = ao_lco_drag_button_check(now, delay);
+		delay = ao_lco_drag_warn_check(now, delay);
+		delay = ao_lco_drag_beep_check(now, delay);
+		delay = ao_lco_drag_display_check(now, delay);
+
+		/* check to see if there's anything left to do here */
+		if (!ao_lco_fire_down && !ao_lco_drag_race && !ao_lco_drag_beep_count) {
+			delay = ~0;
+			ao_lco_drag_active = 0;
+		}
+	}
+}
+
 static void
 ao_lco_input(void)
 {
@@ -148,7 +373,7 @@ ao_lco_input(void)
 							new_pad = AO_PAD_MAX_CHANNELS;
 						if (new_pad == ao_lco_pad)
 							break;
-					} while (!ao_lco_pad_present(new_pad));
+					} while (!ao_lco_pad_present(ao_lco_box, new_pad));
 					if (new_pad != ao_lco_pad) {
 						ao_lco_pad = new_pad;
 						ao_lco_set_display();
@@ -171,7 +396,7 @@ ao_lco_input(void)
 					if (ao_lco_box != new_box) {
 						ao_lco_box = new_box;
 						ao_lco_pad = 1;
-						ao_lco_got_channels = 0;
+						ao_lco_channels[ao_lco_box] = 0;
 						ao_lco_set_display();
 					}
 				}
@@ -183,13 +408,49 @@ ao_lco_input(void)
 			case AO_BUTTON_ARM:
 				ao_lco_armed = event.value;
 				PRINTD("Armed %d\n", ao_lco_armed);
+				if (ao_lco_armed) {
+					if (ao_lco_drag_race) {
+						uint8_t	box;
+
+						for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) {
+							if (ao_lco_selected[box]) {
+								ao_wakeup(&ao_lco_armed);
+								break;
+							}
+						}
+					} else if (ao_lco_pad != 0) {
+						memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
+						ao_lco_selected[ao_lco_box] = (1 << (ao_lco_pad - 1));
+					}
+				}
 				ao_wakeup(&ao_lco_armed);
 				break;
 			case AO_BUTTON_FIRE:
 				if (ao_lco_armed) {
+					ao_lco_fire_down = 0;
 					ao_lco_firing = event.value;
 					PRINTD("Firing %d\n", ao_lco_firing);
 					ao_wakeup(&ao_lco_armed);
+				} else {
+					if (event.value) {
+						ao_lco_fire_down = 1;
+						ao_lco_fire_tick = ao_time();
+						ao_lco_drag_active = 1;
+						/* ao_lco_fire_down will already be off if we just enabled drag mode */
+						if (ao_lco_fire_down && ao_lco_drag_race) {
+							if (ao_lco_pad != 0) {
+								ao_lco_selected[ao_lco_box] ^= (1 << (ao_lco_pad - 1));
+								PRINTD("Toggle box %d pad %d (pads now %x) to drag race\n",
+								       ao_lco_pad, ao_lco_box, ao_lco_selected[ao_lco_box]);
+								ao_lco_drag_beep(ao_lco_pad);
+							}
+						}
+						ao_wakeup(&ao_lco_drag_active);
+					} else {
+						ao_lco_fire_down = 0;
+						if (ao_lco_drag_active)
+							ao_wakeup(&ao_lco_drag_active);
+					}
 				}
 				break;
 			}
@@ -225,37 +486,36 @@ static AO_LED_TYPE	continuity_led[AO_LED_CONTINUITY_NUM] = {
 #endif
 };
 
-static void
-ao_lco_update(void)
+static uint8_t
+ao_lco_get_channels(uint8_t box, struct ao_pad_query *query)
 {
 	int8_t			r;
-	uint8_t			c;
 
-	r = ao_lco_query(ao_lco_box, &ao_pad_query, &ao_lco_tick_offset);
+	r = ao_lco_query(box, query, &ao_lco_tick_offset[box]);
 	if (r == AO_RADIO_CMAC_OK) {
-		c = ao_lco_got_channels;
-		ao_lco_got_channels = 1;
-		ao_lco_valid = 1;
-		if (!c) {
+		ao_lco_channels[box] = query->channels;
+		ao_lco_valid[box] = 1;
+	} else
+		ao_lco_valid[box] = 0;
+	PRINTD("ao_lco_get_channels(%d) rssi %d valid %d ret %d\n", box, ao_radio_cmac_rssi, ao_lco_valid[box], r);
+	ao_wakeup(&ao_pad_query);
+	return ao_lco_valid[box];
+}
+
+static void
+ao_lco_update(void)
+{
+	uint8_t	previous_valid = ao_lco_valid[ao_lco_box];
+
+	if (ao_lco_get_channels(ao_lco_box, &ao_pad_query)) {
+		if (!previous_valid) {
 			if (ao_lco_pad != 0)
-				ao_lco_pad = ao_lco_pad_first();
+				ao_lco_pad = ao_lco_pad_first(ao_lco_box);
 			ao_lco_set_display();
 		}
 		if (ao_lco_pad == 0)
 			ao_lco_set_display();
-	} else
-		ao_lco_valid = 0;
-
-#if 0
-	PRINTD("lco_query success arm_status %d i0 %d i1 %d i2 %d i3 %d\n",
-	       query.arm_status,
-	       query.igniter_status[0],
-	       query.igniter_status[1],
-	       query.igniter_status[2],
-	       query.igniter_status[3]);
-#endif
-	PRINTD("ao_lco_update valid %d\n", ao_lco_valid);
-	ao_wakeup(&ao_pad_query);
+	}
 }
 
 static void
@@ -309,8 +569,8 @@ ao_lco_search(void)
 		ao_lco_box = ao_lco_min_box;
 	else
 		ao_lco_min_box = ao_lco_max_box = ao_lco_box = 0;
-	ao_lco_valid = 0;
-	ao_lco_got_channels = 0;
+	memset(ao_lco_valid, 0, sizeof (ao_lco_valid));
+	memset(ao_lco_channels, 0, sizeof (ao_lco_channels));
 	ao_lco_pad = 1;
 	ao_lco_set_display();
 }
@@ -319,11 +579,12 @@ static void
 ao_lco_igniter_status(void)
 {
 	uint8_t		c;
+	uint8_t		t = 0;
 
 	for (;;) {
 		ao_sleep(&ao_pad_query);
-		PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_valid);
-		if (!ao_lco_valid) {
+		PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_valid[ao_lco_box]);
+		if (!ao_lco_valid[ao_lco_box]) {
 			ao_led_on(AO_LED_RED);
 			ao_led_off(AO_LED_GREEN|AO_LED_AMBER);
 			continue;
@@ -339,18 +600,27 @@ ao_lco_igniter_status(void)
 			ao_led_on(AO_LED_REMOTE_ARM);
 		else
 			ao_led_off(AO_LED_REMOTE_ARM);
+
 		for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) {
 			uint8_t	status;
 
-			if (ao_pad_query.channels & (1 << c))
-				status = ao_pad_query.igniter_status[c];
-			else
-				status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
-			if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN)
-				ao_led_on(continuity_led[c]);
-			else
-				ao_led_off(continuity_led[c]);
+			if (ao_lco_drag_race) {
+				if (ao_lco_selected[ao_lco_box] & (1 << c) && t)
+					ao_led_on(continuity_led[c]);
+				else
+					ao_led_off(continuity_led[c]);
+			} else {
+				if (ao_pad_query.channels & (1 << c))
+					status = ao_pad_query.igniter_status[c];
+				else
+					status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
+				if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN)
+					ao_led_on(continuity_led[c]);
+				else
+					ao_led_off(continuity_led[c]);
+			}
 		}
+		t = 1-t;
 	}
 }
 
@@ -374,34 +644,31 @@ static void
 ao_lco_monitor(void)
 {
 	uint16_t		delay;
+	uint8_t			box;
 
 	ao_lco_search();
 	ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input");
 	ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn");
 	ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status");
+	ao_add_task(&ao_lco_drag_task, ao_lco_drag_monitor, "drag race");
 	for (;;) {
-		PRINTD("monitor armed %d firing %d offset %d\n",
-		       ao_lco_armed, ao_lco_firing, ao_lco_tick_offset);
+		PRINTD("monitor armed %d firing %d\n",
+		       ao_lco_armed, ao_lco_firing);
 
 		if (ao_lco_armed && ao_lco_firing) {
-			PRINTD("Firing box %d pad %d: valid %d\n",
-			       ao_lco_box, ao_lco_pad, ao_lco_valid);
-			if (!ao_lco_valid)
-				ao_lco_update();
-			if (ao_lco_valid && ao_lco_pad)
-				ao_lco_ignite(ao_lco_box, 1 << (ao_lco_pad - 1), ao_lco_tick_offset);
-		} else if (ao_lco_armed) {
-			PRINTD("Arming box %d pad %d\n",
-			       ao_lco_box, ao_lco_pad);
-			if (!ao_lco_valid)
-				ao_lco_update();
-			if (ao_lco_pad) {
-				ao_lco_arm(ao_lco_box, 1 << (ao_lco_pad - 1), ao_lco_tick_offset);
-				ao_delay(AO_MS_TO_TICKS(30));
-				ao_lco_update();
-			}
+			ao_lco_ignite();
 		} else {
 			ao_lco_update();
+			if (ao_lco_armed) {
+				for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) {
+					if (ao_lco_selected[box]) {
+						PRINTD("Arming box %d pads %x\n",
+						       box, ao_lco_selected[box]);
+						if (ao_lco_valid[box])
+							ao_lco_arm(box, ao_lco_selected[box], ao_lco_tick_offset[ao_lco_box]);
+					}
+				}
+			}
 		}
 		if (ao_lco_armed && ao_lco_firing)
 			delay = AO_MS_TO_TICKS(100);
diff --git a/src/drivers/ao_lco_cmd.c b/src/drivers/ao_lco_cmd.c
index acbf589a..6a365687 100644
--- a/src/drivers/ao_lco_cmd.c
+++ b/src/drivers/ao_lco_cmd.c
@@ -62,7 +62,7 @@ lco_arm(void)
 static void
 lco_ignite(void)
 {
-	ao_lco_ignite(lco_box, lco_channels, tick_offset);
+	ao_lco_ignite();
 }
 
 static void
diff --git a/src/drivers/ao_lco_func.c b/src/drivers/ao_lco_func.c
index 32c00068..08d45467 100644
--- a/src/drivers/ao_lco_func.c
+++ b/src/drivers/ao_lco_func.c
@@ -44,7 +44,7 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset)
 	}
 #endif
 	ao_mutex_get(&ao_lco_mutex);
-	command.tick = ao_time() - *tick_offset;
+	command.tick = ao_time();
 	command.box = box;
 	command.cmd = AO_LAUNCH_QUERY;
 	command.channels = 0;
@@ -70,14 +70,13 @@ ao_lco_arm(uint16_t box, uint8_t channels, uint16_t tick_offset)
 }
 
 void
-ao_lco_ignite(uint16_t box, uint8_t channels, uint16_t tick_offset)
+ao_lco_ignite(void)
 {
 	ao_mutex_get(&ao_lco_mutex);
-	command.tick = ao_time() - tick_offset;
-	command.box = box;
+	command.tick = 0;
+	command.box = 0;
 	command.cmd = AO_LAUNCH_FIRE;
-	command.channels = channels;
+	command.channels = 0;
 	ao_radio_cmac_send(&command, sizeof (command));
 	ao_mutex_put(&ao_lco_mutex);
 }
-
diff --git a/src/drivers/ao_lco_func.h b/src/drivers/ao_lco_func.h
index dccf602a..42754352 100644
--- a/src/drivers/ao_lco_func.h
+++ b/src/drivers/ao_lco_func.h
@@ -27,6 +27,6 @@ void
 ao_lco_arm(uint16_t box, uint8_t channels, uint16_t tick_offset);
 
 void
-ao_lco_ignite(uint16_t box, uint8_t channels, uint16_t tick_offset);
+ao_lco_ignite(void);
 
 #endif /* _AO_LCO_FUNC_H_ */
diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c
index ffe46c68..419ea8d3 100644
--- a/src/drivers/ao_pad.c
+++ b/src/drivers/ao_pad.c
@@ -288,8 +288,7 @@ ao_pad(void)
 			PRINTD ("armed\n");
 			ao_pad_armed = command.channels;
 			ao_pad_arm_time = ao_time();
-
-			/* fall through ... */
+			break;
 
 		case AO_LAUNCH_QUERY:
 			if (command.box != ao_pad_box) {
@@ -320,13 +319,6 @@ ao_pad(void)
 					ao_pad_arm_time, ao_time());
 				break;
 			}
-			time_difference = command.tick - ao_time();
-			if (time_difference < 0)
-				time_difference = -time_difference;
-			if (time_difference > 10) {
-				PRINTD ("time different too large %d\n", time_difference);
-				break;
-			}
 			PRINTD ("ignite\n");
 			ao_pad_ignite = ao_pad_armed;
 			ao_pad_arm_time = ao_time();
diff --git a/src/drivers/ao_seven_segment.c b/src/drivers/ao_seven_segment.c
index 961fbb84..f1339ee5 100644
--- a/src/drivers/ao_seven_segment.c
+++ b/src/drivers/ao_seven_segment.c
@@ -168,10 +168,20 @@ static const uint8_t ao_segments[] = {
 	(0 << 6),		/* F */
 };
 
+
 void
-ao_seven_segment_set(uint8_t digit, uint8_t value)
+ao_seven_segment_direct(uint8_t digit, uint8_t segments)
 {
 	uint8_t	s;
+
+	for (s = 0; s <= 7; s++)
+		ao_lcd_set(digit, s, !!(segments & (1 << s)));
+	ao_lcd_flush();
+}
+
+void
+ao_seven_segment_set(uint8_t digit, uint8_t value)
+{
 	uint8_t	segments;
 
 	if (value == AO_SEVEN_SEGMENT_CLEAR)
@@ -183,10 +193,7 @@ ao_seven_segment_set(uint8_t digit, uint8_t value)
 		if (value & 0x10)
 			segments |= (1 << 7);
 	}
-
-	for (s = 0; s <= 7; s++)
-		ao_lcd_set(digit, s, !!(segments & (1 << s)));
-	ao_lcd_flush();
+	ao_seven_segment_direct(digit, segments);
 }
 
 void
diff --git a/src/drivers/ao_seven_segment.h b/src/drivers/ao_seven_segment.h
index 5b29deaf..f997f3b5 100644
--- a/src/drivers/ao_seven_segment.h
+++ b/src/drivers/ao_seven_segment.h
@@ -23,6 +23,9 @@
 #define AO_SEVEN_SEGMENT_CLEAR		0xff
 
 void
+ao_seven_segment_direct(uint8_t digit, uint8_t segments);
+
+void
 ao_seven_segment_set(uint8_t digit, uint8_t value);
 
 void
diff --git a/src/easymega-v1.0/ao_pins.h b/src/easymega-v1.0/ao_pins.h
index d6490ba5..a5e55638 100644
--- a/src/easymega-v1.0/ao_pins.h
+++ b/src/easymega-v1.0/ao_pins.h
@@ -78,6 +78,7 @@
 #define HAS_RADIO		0
 #define HAS_TELEMETRY		0
 #define HAS_APRS		0
+#define HAS_COMPANION		1
 
 #define HAS_SPI_1		1
 #define SPI_1_PA5_PA6_PA7	1	/* Barometer */
diff --git a/src/teleballoon-v2.0/ao_pins.h b/src/teleballoon-v2.0/ao_pins.h
index a369070f..b62b5580 100644
--- a/src/teleballoon-v2.0/ao_pins.h
+++ b/src/teleballoon-v2.0/ao_pins.h
@@ -75,6 +75,7 @@
 #define HAS_RADIO		1
 #define HAS_TELEMETRY		1
 #define HAS_APRS		1
+#define HAS_COMPANION		1
 
 #define HAS_SPI_1		1
 #define SPI_1_PA5_PA6_PA7	1	/* Barometer */
diff --git a/src/telemega-v0.1/ao_pins.h b/src/telemega-v0.1/ao_pins.h
index 2616e906..7ccc6085 100644
--- a/src/telemega-v0.1/ao_pins.h
+++ b/src/telemega-v0.1/ao_pins.h
@@ -79,6 +79,7 @@
 #define HAS_RADIO		1
 #define HAS_TELEMETRY		1
 #define HAS_APRS		1
+#define HAS_COMPANION		1
 
 #define HAS_SPI_1		1
 #define SPI_1_PA5_PA6_PA7	1	/* Barometer */
diff --git a/src/telemega-v1.0/ao_pins.h b/src/telemega-v1.0/ao_pins.h
index 77b753d1..664546c2 100644
--- a/src/telemega-v1.0/ao_pins.h
+++ b/src/telemega-v1.0/ao_pins.h
@@ -79,6 +79,7 @@
 #define HAS_RADIO		1
 #define HAS_TELEMETRY		1
 #define HAS_APRS		1
+#define HAS_COMPANION		1
 
 #define HAS_SPI_1		1
 #define SPI_1_PA5_PA6_PA7	1	/* Barometer */
diff --git a/src/telemetrum-v2.0/ao_pins.h b/src/telemetrum-v2.0/ao_pins.h
index a9a4b243..fbb38df2 100644
--- a/src/telemetrum-v2.0/ao_pins.h
+++ b/src/telemetrum-v2.0/ao_pins.h
@@ -75,6 +75,7 @@
 #define HAS_RADIO		1
 #define HAS_TELEMETRY		1
 #define HAS_APRS		1
+#define HAS_COMPANION		1
 
 #define HAS_SPI_1		1
 #define SPI_1_PA5_PA6_PA7	1	/* Barometer */