diff options
Diffstat (limited to 'src/kernel/ao_microflight.c')
| -rw-r--r-- | src/kernel/ao_microflight.c | 24 |
1 files changed, 21 insertions, 3 deletions
diff --git a/src/kernel/ao_microflight.c b/src/kernel/ao_microflight.c index f680e400..f7521f21 100644 --- a/src/kernel/ao_microflight.c +++ b/src/kernel/ao_microflight.c @@ -43,10 +43,12 @@ void ao_microflight(void) { int16_t sample_count; + int16_t log_count; uint16_t time; uint32_t pa_interval_min, pa_interval_max; int32_t pa_diff; - uint8_t h, i; + uint8_t h; + uint8_t i; uint8_t accel_lock = 0; uint32_t pa_sum = 0; @@ -60,19 +62,25 @@ ao_microflight(void) h = 0; for (;;) { time += SAMPLE_SLEEP; +#if BOOST_DETECT if ((sample_count & 0x1f) == 0) ao_led_on(AO_LED_REPORT); +#endif ao_delay_until(time); ao_microsample(); +#if BOOST_DETECT if ((sample_count & 0x1f) == 0) ao_led_off(AO_LED_REPORT); +#endif pa_hist[h] = pa; h = SKIP_PA_HIST(h,1); pa_diff = pa_ground - ao_pa; +#if BOOST_DETECT /* Check for a significant pressure change */ if (pa_diff > BOOST_DETECT) break; +#endif if (sample_count < GROUND_AVG * 2) { if (sample_count < GROUND_AVG) @@ -82,6 +90,9 @@ ao_microflight(void) pa_ground = pa_sum >> GROUND_AVG_SHIFT; pa_sum = 0; sample_count = 0; +#if !BOOST_DETECT + break; +#endif } } @@ -93,7 +104,10 @@ ao_microflight(void) } /* Log the remaining samples so we get a complete history since leaving the ground */ - for (; i != h; i = SKIP_PA_HIST(i,2)) { +#if LOG_INTERVAL < NUM_PA_HIST + for (; i != h; i = SKIP_PA_HIST(i,2)) +#endif + { pa = pa_hist[i]; ao_log_micro_data(); } @@ -101,6 +115,7 @@ ao_microflight(void) /* Now sit around until the pressure is stable again and record the max */ sample_count = 0; + log_count = 0; pa_min = ao_pa; pa_interval_min = ao_pa; pa_interval_max = ao_pa; @@ -112,8 +127,11 @@ ao_microflight(void) ao_microsample(); if ((sample_count & 3) == 0) ao_led_off(AO_LED_REPORT); - if (sample_count & 1) + if (log_count == LOG_INTERVAL - 1) { ao_log_micro_data(); + log_count = 0; + } else + log_count++; /* If accelerating upwards, don't look for min pressure */ if (ao_pa_accel < ACCEL_LOCK_PA) |