diff options
Diffstat (limited to 'src/kernel/ao_tracker.c')
| -rw-r--r-- | src/kernel/ao_tracker.c | 43 |
1 files changed, 36 insertions, 7 deletions
diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c index a6ad87a3..9febc7f0 100644 --- a/src/kernel/ao_tracker.c +++ b/src/kernel/ao_tracker.c @@ -50,6 +50,7 @@ struct gps_position gps_position[GPS_RING]; static uint8_t gps_head; +static uint8_t tracker_mutex; static uint8_t log_started; static struct ao_telemetry_location gps_data; static uint8_t tracker_running; @@ -100,17 +101,19 @@ ao_tracker(void) tracker_running = 0; } - if (new_tracker_running && !tracker_running) { + if (new_tracker_running && !tracker_running) ao_telemetry_set_interval(AO_SEC_TO_TICKS(tracker_interval)); - ao_log_start(); - } else if (!new_tracker_running && tracker_running) { + else if (!new_tracker_running && tracker_running) ao_telemetry_set_interval(0); - ao_log_stop(); - } tracker_running = new_tracker_running; - if (!tracker_running) + if (new_tracker_running && !ao_log_running) + ao_log_start(); + else if (!new_tracker_running && ao_log_running) + ao_log_stop(); + + if (!ao_log_running) continue; if (new & AO_GPS_NEW_DATA) { @@ -138,10 +141,11 @@ ao_tracker(void) } } if (ao_tracker_force_telem) { - printf ("moving %d\n", moving); + printf ("moving %d started %d\n", moving, log_started); flush(); } if (moving) { + ao_mutex_get(&tracker_mutex); if (!log_started) { ao_log_gps_flight(); log_started = 1; @@ -151,12 +155,37 @@ ao_tracker(void) gps_position[gps_head].longitude = gps_data.longitude; gps_position[gps_head].altitude = gps_data.altitude; gps_head = ao_gps_ring_next(gps_head); + ao_mutex_put(&tracker_mutex); } } } } } +static uint8_t erasing_current; + +void +ao_tracker_erase_start(uint16_t flight) +{ + erasing_current = flight == ao_flight_number; + if (erasing_current) { + ao_mutex_get(&tracker_mutex); + ao_log_stop(); + if (++ao_flight_number == 0) + ao_flight_number = 1; + } +} + +void +ao_tracker_erase_end(void) +{ + if (erasing_current) { + ao_log_scan(); + log_started = 0; + ao_mutex_put(&tracker_mutex); + } +} + static struct ao_task ao_tracker_task; static void |