diff options
| author | Keith Packard <keithp@keithp.com> | 2014-06-07 21:05:01 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2014-06-07 21:05:01 -0700 |
| commit | bd9e4f30b2a491b030246943767960ab053ac94c (patch) | |
| tree | ee1df0419f399b8a99e3be6f6faf960e4fdf7b6e | |
| parent | 08550425fca3da73d8f16de567a2c956b85d676e (diff) | |
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>
| -rw-r--r-- | src/kernel/ao_tracker.c | 26 |
1 files changed, 22 insertions, 4 deletions
diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c index 4bc229b4..cdf147cd 100644 --- 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); } |