altos: Write tracker logging from tracker thread directly

Also, logs 8 pre-launch GPS packets so we can get the ground position.

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

1 files changed, 23 insertions, 0 deletions

diff --git a/src/kernel/ao_tracker.h b/src/kernel/ao_tracker.h
index 43556965..1adf0f33 100644
--- a/src/kernel/ao_tracker.h
+++ b/src/kernel/ao_tracker.h
@@ -21,6 +21,29 @@
 #define AO_CONFIG_DEFAULT_TRACKER_START_HORIZ	1000
 #define AO_CONFIG_DEFAULT_TRACKER_START_VERT	100
 
+/* Speeds for the various modes, 2m/s seems reasonable for 'not moving' */
+#define AO_TRACKER_NOT_MOVING	200
+
+extern int32_t	ao_tracker_start_latitude;
+extern int32_t	ao_tracker_start_longitude;
+extern int16_t	ao_tracker_start_altitude;
+
+#define AO_TRACKER_RING	8
+
+struct ao_tracker_data {
+	uint16_t			tick;
+	uint8_t				new;
+	uint8_t				state;
+	struct ao_telemetry_location	gps_data;
+	struct ao_telemetry_satellite	gps_tracking_data;
+};
+
+extern struct ao_tracker_data	ao_tracker_data[AO_TRACKER_RING];
+extern uint8_t			ao_tracker_head;
+
+#define ao_tracker_ring_next(n)	(((n) + 1) & (AO_TRACKER_RING-1))
+#define ao_tracker_ring_prev(n)	(((n) - 1) & (AO_TRACKER_RING-1))
+
 void
 ao_tracker_init(void);