From 013e9ccfbe76dc46e8c69ea314950bed83d9a39f Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 10 Jul 2014 17:18:38 -0700 Subject: altos: Use 32-bits for flight state data (alt/speed/accel) Stores 32-bits for all of the flight parameters. Uses 64-bit intermediates for kalman computation. Signed-off-by: Keith Packard --- src/telefire-v0.2/Makefile | 1 - 1 file changed, 1 deletion(-) (limited to 'src/telefire-v0.2') diff --git a/src/telefire-v0.2/Makefile b/src/telefire-v0.2/Makefile index ad5065c1..944543c5 100644 --- a/src/telefire-v0.2/Makefile +++ b/src/telefire-v0.2/Makefile @@ -25,7 +25,6 @@ INC = \ CORE_SRC = \ ao_cmd.c \ ao_config.c \ - ao_convert.c \ ao_mutex.c \ ao_panic.c \ ao_stdio.c \ -- cgit v1.2.3 From a60ba449ec237ad3b8dade9dcea603b349dbccb1 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 12 Jul 2014 23:52:05 -0700 Subject: altos/telefire,telelco: Add HAS_RADIO_RATE to launch system software This lets us set the rate to a lower value to improve range. 9600 baud works great; 2400 baud makes the initial search take a long time. Signed-off-by: Keith Packard --- src/drivers/ao_lco_func.c | 16 +++++++++++++++- src/telefire-v0.2/ao_pins.h | 1 + src/telelco-v0.2/ao_lco.c | 2 +- src/telelco-v0.2/ao_pins.h | 1 + 4 files changed, 18 insertions(+), 2 deletions(-) (limited to 'src/telefire-v0.2') diff --git a/src/drivers/ao_lco_func.c b/src/drivers/ao_lco_func.c index 9e642836..32c00068 100644 --- a/src/drivers/ao_lco_func.c +++ b/src/drivers/ao_lco_func.c @@ -28,7 +28,21 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset) { int8_t r; uint16_t sent_time; + uint16_t timeout = AO_MS_TO_TICKS(10); +#if HAS_RADIO_RATE + switch (ao_config.radio_rate) { + case AO_RADIO_RATE_38400: + default: + break; + case AO_RADIO_RATE_9600: + timeout = AO_MS_TO_TICKS(20); + break; + case AO_RADIO_RATE_2400: + timeout = AO_MS_TO_TICKS(80); + break; + } +#endif ao_mutex_get(&ao_lco_mutex); command.tick = ao_time() - *tick_offset; command.box = box; @@ -36,7 +50,7 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset) command.channels = 0; ao_radio_cmac_send(&command, sizeof (command)); sent_time = ao_time(); - r = ao_radio_cmac_recv(query, sizeof (*query), AO_MS_TO_TICKS(10)); + r = ao_radio_cmac_recv(query, sizeof (*query), timeout); if (r == AO_RADIO_CMAC_OK) *tick_offset = sent_time - query->tick; ao_mutex_put(&ao_lco_mutex); diff --git a/src/telefire-v0.2/ao_pins.h b/src/telefire-v0.2/ao_pins.h index 9e6631ce..ef2d4822 100644 --- a/src/telefire-v0.2/ao_pins.h +++ b/src/telefire-v0.2/ao_pins.h @@ -19,6 +19,7 @@ #define _AO_PINS_H_ #define HAS_RADIO 1 +#define HAS_RADIO_RATE 1 #define HAS_TELEMETRY 0 #define HAS_FLIGHT 0 diff --git a/src/telelco-v0.2/ao_lco.c b/src/telelco-v0.2/ao_lco.c index b3f5bb16..4b5f7a9b 100644 --- a/src/telelco-v0.2/ao_lco.c +++ b/src/telelco-v0.2/ao_lco.c @@ -258,7 +258,7 @@ ao_lco_search(void) for (box = 0; box < AO_PAD_MAX_BOXES; box++) { if ((box % 10) == 0) ao_lco_set_box(box); - for (try = 0; try < 5; try++) { + for (try = 0; try < 3; try++) { tick_offset = 0; r = ao_lco_query(box, &ao_pad_query, &tick_offset); PRINTD("box %d result %d\n", box, r); diff --git a/src/telelco-v0.2/ao_pins.h b/src/telelco-v0.2/ao_pins.h index a6fd4ff8..da790b14 100644 --- a/src/telelco-v0.2/ao_pins.h +++ b/src/telelco-v0.2/ao_pins.h @@ -48,6 +48,7 @@ #define HAS_USB 1 #define HAS_BEEP 1 #define HAS_RADIO 1 +#define HAS_RADIO_RATE 1 #define HAS_TELEMETRY 0 #define HAS_AES 1 -- cgit v1.2.3