diff options
| author | Keith Packard <keithp@keithp.com> | 2014-06-05 18:49:01 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2014-06-05 18:49:01 -0700 |
| commit | 6160ddadeae324b4a68db800c98c339156b63076 (patch) | |
| tree | 57a66cf45d5924895a3d4dce07f214096032996a /src | |
| parent | 4a29df3f9f6c4969eb01598f6917ce78c9ce37a6 (diff) | |
altos: Add debug to tracker to force launch
This lets us test the move from pad to drogue state
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src')
| -rw-r--r-- | src/product/ao_tracker.c | 12 |
1 files changed, 9 insertions, 3 deletions
diff --git a/src/product/ao_tracker.c b/src/product/ao_tracker.c index b4e563ee..c1c3366c 100644 --- a/src/product/ao_tracker.c +++ b/src/product/ao_tracker.c @@ -26,6 +26,7 @@ enum ao_flight_state ao_flight_state; #define AO_TRACKER_NOT_MOVING 200 static uint8_t ao_tracker_force_telem; +static uint8_t ao_tracker_force_launch; #if HAS_USB_CONNECT static inline uint8_t @@ -105,9 +106,11 @@ ao_tracker(void) height = -height; if (ground_distance >= ao_config.tracker_start_horiz || - height >= ao_config.tracker_start_vert) + height >= ao_config.tracker_start_vert || + ao_tracker_force_launch) { ao_flight_state = ao_flight_drogue; + ao_wakeup(&ao_flight_state); ao_log_start(); } break; @@ -156,8 +159,11 @@ static void ao_tracker_set_telem(void) { ao_cmd_hex(); - if (ao_cmd_status == ao_cmd_success) - ao_tracker_force_telem = 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; + printf ("force telem %d force launch %d\n", ao_tracker_force_telem, ao_tracker_force_launch); + } } static const struct ao_cmds ao_tracker_cmds[] = { |