altos: Simplify tracker logic, removing boost detect

This removes the ao_flight_state value from the tracker code and makes
it simply log position information when the device has moved within
the last 10 log intervals. This also changes the configuration
parameters to define what 'motionless' means, and what interval to
configure the GPS receiver for, log data and send telemetry.

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

1 files changed, 1 insertions, 36 deletions

diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c
index e9e573a5..8bf529f4 100644
--- a/src/kernel/ao_log_gps.c
+++ b/src/kernel/ao_log_gps.c
@@ -60,51 +60,17 @@ ao_log_gps(__xdata struct ao_log_gps *log) __reentrant
 	return wrote;
 }
 
-
-static int32_t	prev_lat, prev_lon;
-static int16_t  prev_alt;
-static uint8_t	has_prev, unmoving;
-
-#define GPS_SPARSE_UNMOVING_REPORTS	10
-#define GPS_SPARSE_UNMOVING_GROUND	10
-#define GPS_SPARSE_UNMOVING_AIR		10
-
-uint8_t
-ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt)
-{
-	if (has_prev && ao_log_running) {
-		uint32_t	h = ao_distance(prev_lat, prev_lon, lat, lon);
-		uint16_t	v = alt > prev_alt ? (alt - prev_alt) : (prev_alt - alt);
-
-		if (h < GPS_SPARSE_UNMOVING_GROUND && v < GPS_SPARSE_UNMOVING_AIR) {
-			if (unmoving < GPS_SPARSE_UNMOVING_REPORTS)
-				++unmoving;
-		} else
-			unmoving = 0;
-	} else
-		unmoving = 0;
-
-	prev_lat = lat;
-	prev_lon = lon;
-	prev_alt = alt;
-	has_prev = 1;
-	return unmoving >= GPS_SPARSE_UNMOVING_REPORTS;
-}
-
 void
 ao_log_gps_flight(void)
 {
 	log.type = AO_LOG_FLIGHT;
 	log.tick = ao_time();
 	log.u.flight.flight = ao_flight_number;
-	log.u.flight.start_altitude = ao_tracker_start_altitude;
-	log.u.flight.start_latitude = ao_tracker_start_latitude;
-	log.u.flight.start_longitude = ao_tracker_start_longitude;
 	ao_log_gps(&log);
 }
 
 void
-ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_data)
+ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data)
 {
 	log.tick = tick;
 	log.type = AO_LOG_GPS_TIME;
@@ -126,7 +92,6 @@ ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_
 	log.u.gps.hdop = gps_data->hdop;
 	log.u.gps.vdop = gps_data->vdop;
 	log.u.gps.mode = gps_data->mode;
-	log.u.gps.state = state;
 	ao_log_gps(&log);
 }