From fe0aaf4413035f9de2c805c612c71188ec8c6f4d Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 5 Jun 2014 18:49:59 -0700
Subject: altos/telegps-v0.3: Add tracker task

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/telegps-v0.3/Makefile     | 7 +++----
 src/telegps-v0.3/ao_pins.h    | 5 +++--
 src/telegps-v0.3/ao_telegps.c | 8 +++++---
 3 files changed, 11 insertions(+), 9 deletions(-)

(limited to 'src/telegps-v0.3')

diff --git a/src/telegps-v0.3/Makefile b/src/telegps-v0.3/Makefile
index 5aad32b5..00730b29 100644
--- a/src/telegps-v0.3/Makefile
+++ b/src/telegps-v0.3/Makefile
@@ -19,9 +19,6 @@ INC = \
 	Makefile
 
 
-MATH_SRC=\
-	ef_log.c
-
 ALTOS_SRC = \
 	ao_interrupt.c \
 	ao_boot_chain.c \
@@ -44,13 +41,15 @@ ALTOS_SRC = \
 	ao_cc115l.c \
 	ao_fec_tx.c \
 	ao_aprs.c \
+	ao_tracker.c \
 	ao_telemetry.c \
 	ao_storage.c \
 	ao_m25.c \
 	ao_log.c \
 	ao_log_mega.c \
 	ao_gps_report_mega.c \
-	$(MATH_SRC) \
+	ao_distance.c \
+	ao_sqrt.c \
 	$(SAMPLE_PROFILE)
 
 PRODUCT=TeleGPS-v0.3
diff --git a/src/telegps-v0.3/ao_pins.h b/src/telegps-v0.3/ao_pins.h
index a4afaa54..ae401ed4 100644
--- a/src/telegps-v0.3/ao_pins.h
+++ b/src/telegps-v0.3/ao_pins.h
@@ -46,7 +46,7 @@
 #define HAS_BEEP		0
 #define HAS_RADIO		1
 #define HAS_TELEMETRY		1
-#define HAS_RDF			0
+#define HAS_RDF			1
 #define HAS_APRS		1
 #define HAS_RADIO_RECV		0
 
@@ -69,6 +69,7 @@
 #define HAS_FLIGHT		0
 #define HAS_ADC			0
 #define HAS_LOG			1
+#define HAS_TRACKER		1
 
 #define AO_CONFIG_DEFAULT_APRS_INTERVAL	5
 #define AO_CONFIG_DEFAULT_RADIO_POWER		0xc0
@@ -87,7 +88,7 @@
 
 #define AO_RADIO_CAL_DEFAULT 	0x10b6a5
 
-#define HAS_RADIO_POWER		1
+#define HAS_RADIO_POWER		0
 #define AO_FEC_DEBUG		0
 #define AO_CC115L_SPI_CS_PORT	0
 #define AO_CC115L_SPI_CS_PIN	3
diff --git a/src/telegps-v0.3/ao_telegps.c b/src/telegps-v0.3/ao_telegps.c
index 608817e7..dfd7e6ad 100644
--- a/src/telegps-v0.3/ao_telegps.c
+++ b/src/telegps-v0.3/ao_telegps.c
@@ -17,7 +17,7 @@
 
 #include <ao.h>
 #include <ao_exti.h>
-#include <ao_fat.h>
+#include <ao_tracker.h>
 
 uint16_t	ao_flight_number = 1;
 
@@ -25,7 +25,7 @@ int
 main(void)
 {
 	ao_clock_init();
-	
+
 #if HAS_STACK_GUARD
 	ao_mpu_init();
 #endif
@@ -52,6 +52,8 @@ main(void)
 	ao_log_init();
 #endif
 
+	ao_tracker_init();
+
 	ao_telemetry_init();
 	ao_telemetry_set_interval(AO_SEC_TO_TICKS(1));
 
@@ -59,7 +61,7 @@ main(void)
 	ao_sample_profile_init();
 #endif
 	ao_config_init();
-	
+
 	ao_start_scheduler();
 	return 0;
 }
-- 
cgit v1.2.3


From f830d4e9202d2a138fc9aaacb2388f94390399db Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 5 Jun 2014 21:39:50 -0700
Subject: altos/telegps-v0.3: Disable APRS by default. Set log max to 1M

And adjust default radio cal to be a bit closer

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/telegps-v0.3/ao_pins.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

(limited to 'src/telegps-v0.3')

diff --git a/src/telegps-v0.3/ao_pins.h b/src/telegps-v0.3/ao_pins.h
index ae401ed4..343e3301 100644
--- a/src/telegps-v0.3/ao_pins.h
+++ b/src/telegps-v0.3/ao_pins.h
@@ -71,8 +71,9 @@
 #define HAS_LOG			1
 #define HAS_TRACKER		1
 
-#define AO_CONFIG_DEFAULT_APRS_INTERVAL	5
+#define AO_CONFIG_DEFAULT_APRS_INTERVAL		0
 #define AO_CONFIG_DEFAULT_RADIO_POWER		0xc0
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	1024 * 1024
 
 /*
  * GPS
@@ -86,7 +87,7 @@
 
 /* gets pretty close to 434.550 */
 
-#define AO_RADIO_CAL_DEFAULT 	0x10b6a5
+#define AO_RADIO_CAL_DEFAULT 	1095378
 
 #define HAS_RADIO_POWER		0
 #define AO_FEC_DEBUG		0
-- 
cgit v1.2.3


From 0e867c67c8e2c40058ae36723e06b2ce00bd0419 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 5 Jun 2014 21:40:39 -0700
Subject: altos/telegps-v0.3: Remove ao_flight_number from main program

We've got logging enabled now

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/telegps-v0.3/ao_telegps.c | 2 --
 1 file changed, 2 deletions(-)

(limited to 'src/telegps-v0.3')

diff --git a/src/telegps-v0.3/ao_telegps.c b/src/telegps-v0.3/ao_telegps.c
index dfd7e6ad..6a022828 100644
--- a/src/telegps-v0.3/ao_telegps.c
+++ b/src/telegps-v0.3/ao_telegps.c
@@ -19,8 +19,6 @@
 #include <ao_exti.h>
 #include <ao_tracker.h>
 
-uint16_t	ao_flight_number = 1;
-
 int
 main(void)
 {
-- 
cgit v1.2.3


From d562a5d3a6dfea334a66ee74893b400bdca09315 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 7 Jun 2014 11:44:07 -0700
Subject: altos: Switch TeleGPS to GPS logging format

It's customized for TeleGPS uses

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/telegps-v0.3/Makefile     | 3 +--
 src/telegps-v0.3/ao_telegps.c | 1 -
 src/telegps-v1.0/Makefile     | 3 +--
 src/telegps-v1.0/ao_telegps.c | 1 -
 4 files changed, 2 insertions(+), 6 deletions(-)

(limited to 'src/telegps-v0.3')

diff --git a/src/telegps-v0.3/Makefile b/src/telegps-v0.3/Makefile
index 00730b29..9736407c 100644
--- a/src/telegps-v0.3/Makefile
+++ b/src/telegps-v0.3/Makefile
@@ -46,8 +46,7 @@ ALTOS_SRC = \
 	ao_storage.c \
 	ao_m25.c \
 	ao_log.c \
-	ao_log_mega.c \
-	ao_gps_report_mega.c \
+	ao_log_gps.c \
 	ao_distance.c \
 	ao_sqrt.c \
 	$(SAMPLE_PROFILE)
diff --git a/src/telegps-v0.3/ao_telegps.c b/src/telegps-v0.3/ao_telegps.c
index 6a022828..bc7eeea8 100644
--- a/src/telegps-v0.3/ao_telegps.c
+++ b/src/telegps-v0.3/ao_telegps.c
@@ -46,7 +46,6 @@ main(void)
 
 	ao_gps_init();
 #if HAS_LOG
-	ao_gps_report_mega_init();
 	ao_log_init();
 #endif
 
diff --git a/src/telegps-v1.0/Makefile b/src/telegps-v1.0/Makefile
index 5f2a100c..ed864d64 100644
--- a/src/telegps-v1.0/Makefile
+++ b/src/telegps-v1.0/Makefile
@@ -50,8 +50,7 @@ ALTOS_SRC = \
 	ao_storage.c \
 	ao_m25.c \
 	ao_log.c \
-	ao_log_mega.c \
-	ao_gps_report_mega.c \
+	ao_log_gps.c \
 	ao_distance.c \
 	ao_sqrt.c \
 	$(SAMPLE_PROFILE)
diff --git a/src/telegps-v1.0/ao_telegps.c b/src/telegps-v1.0/ao_telegps.c
index 50a5b8ee..1185a5dd 100644
--- a/src/telegps-v1.0/ao_telegps.c
+++ b/src/telegps-v1.0/ao_telegps.c
@@ -49,7 +49,6 @@ main(void)
 
 	ao_gps_init();
 #if HAS_LOG
-	ao_gps_report_mega_init();
 	ao_log_init();
 #endif
 
-- 
cgit v1.2.3


From 23d9d37fd2a8f4b867f34e71a2b0f7cb090717c1 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Sat, 7 Jun 2014 21:12:09 -0700
Subject: altos: Make telegps builds depend on ao_tracker.h

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/telegps-v0.3/Makefile | 1 +
 src/telegps-v1.0/Makefile | 1 +
 2 files changed, 2 insertions(+)

(limited to 'src/telegps-v0.3')

diff --git a/src/telegps-v0.3/Makefile b/src/telegps-v0.3/Makefile
index 9736407c..27279792 100644
--- a/src/telegps-v0.3/Makefile
+++ b/src/telegps-v0.3/Makefile
@@ -11,6 +11,7 @@ INC = \
 	ao_arch_funcs.h \
 	ao_pins.h \
 	ao_product.h \
+	ao_tracker.h \
 	ao_task.h \
 	ao_whiten.h \
 	ao_cc115l.h \
diff --git a/src/telegps-v1.0/Makefile b/src/telegps-v1.0/Makefile
index ed864d64..b5c3dfa3 100644
--- a/src/telegps-v1.0/Makefile
+++ b/src/telegps-v1.0/Makefile
@@ -11,6 +11,7 @@ INC = \
 	ao_arch_funcs.h \
 	ao_pins.h \
 	ao_product.h \
+	ao_tracker.h \
 	ao_task.h \
 	ao_whiten.h \
 	ao_cc115l.h \
-- 
cgit v1.2.3


From 9d7f4fb6af0fee843191766858e39a481aeda347 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 10 Jun 2014 09:52:15 -0700
Subject: altos: Simplify tracker logic, removing boost detect

This removes the ao_flight_state value from the tracker code and makes
it simply log position information when the device has moved within
the last 10 log intervals. This also changes the configuration
parameters to define what 'motionless' means, and what interval to
configure the GPS receiver for, log data and send telemetry.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/kernel/ao_config.c        |  20 +--
 src/kernel/ao_config.h        |   4 +-
 src/kernel/ao_log_gps.c       |  37 +-----
 src/kernel/ao_log_gps.h       |   9 +-
 src/kernel/ao_tracker.c       | 277 ++++++++++++++----------------------------
 src/kernel/ao_tracker.h       |  27 +---
 src/telegps-v0.3/ao_telegps.c |   1 -
 src/telegps-v1.0/ao_telegps.c |   1 -
 8 files changed, 113 insertions(+), 263 deletions(-)

(limited to 'src/telegps-v0.3')

diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c
index 72170555..71445335 100644
--- a/src/kernel/ao_config.c
+++ b/src/kernel/ao_config.c
@@ -184,8 +184,8 @@ _ao_config_get(void)
 #endif
 #if HAS_TRACKER
 		if (minor < 17) {
-			ao_config.tracker_start_horiz = AO_CONFIG_DEFAULT_TRACKER_START_HORIZ;
-			ao_config.tracker_start_vert = AO_CONFIG_DEFAULT_TRACKER_START_VERT;
+			ao_config.tracker_motion = AO_TRACKER_MOTION_DEFAULT;
+			ao_config.tracker_interval = AO_TRACKER_INTERVAL_DEFAULT;
 		}
 #endif
 #if AO_PYRO_NUM
@@ -695,25 +695,25 @@ void
 ao_config_tracker_show(void)
 {
 	printf ("Tracker setting: %d %d\n",
-		ao_config.tracker_start_horiz,
-		ao_config.tracker_start_vert);
+		ao_config.tracker_motion,
+		ao_config.tracker_interval);
 }
 
 void
 ao_config_tracker_set(void)
 {
-	uint16_t	h, v;
+	uint16_t	m, i;
 	ao_cmd_decimal();
 	if (ao_cmd_status != ao_cmd_success)
 		return;
-	h = ao_cmd_lex_i;
+	m = ao_cmd_lex_i;
 	ao_cmd_decimal();
 	if (ao_cmd_status != ao_cmd_success)
 		return;
-	v = ao_cmd_lex_i;
+	i = ao_cmd_lex_i;
 	_ao_config_edit_start();
-	ao_config.tracker_start_horiz = h;
-	ao_config.tracker_start_vert = v;
+	ao_config.tracker_motion = m;
+	ao_config.tracker_interval = i;
 	_ao_config_edit_finish();
 }
 #endif /* HAS_TRACKER */
@@ -814,7 +814,7 @@ __code struct ao_config_var ao_config_vars[] = {
 	  ao_config_beep_set, ao_config_beep_show },
 #endif
 #if HAS_TRACKER
-	{ "t <horiz> <vert>\0Tracker start trigger distances",
+	{ "t <motion> <interval>\0Tracker configuration",
 	  ao_config_tracker_set, ao_config_tracker_show },
 #endif
 	{ "s\0Show",
diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h
index 77f73fbe..2b5cd352 100644
--- a/src/kernel/ao_config.h
+++ b/src/kernel/ao_config.h
@@ -96,8 +96,8 @@ struct ao_config {
 	uint8_t		mid_beep;		/* minor version 16 */
 #endif
 #if HAS_TRACKER
-	uint16_t	tracker_start_horiz;	/* minor version 17 */
-	uint16_t	tracker_start_vert;	/* minor version 17 */
+	uint16_t	tracker_motion;		/* minor version 17 */
+	uint8_t		tracker_interval;	/* minor version 17 */
 #endif
 #if AO_PYRO_NUM
 	uint16_t	pyro_time;		/* minor version 18 */
diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c
index e9e573a5..8bf529f4 100644
--- a/src/kernel/ao_log_gps.c
+++ b/src/kernel/ao_log_gps.c
@@ -60,51 +60,17 @@ ao_log_gps(__xdata struct ao_log_gps *log) __reentrant
 	return wrote;
 }
 
-
-static int32_t	prev_lat, prev_lon;
-static int16_t  prev_alt;
-static uint8_t	has_prev, unmoving;
-
-#define GPS_SPARSE_UNMOVING_REPORTS	10
-#define GPS_SPARSE_UNMOVING_GROUND	10
-#define GPS_SPARSE_UNMOVING_AIR		10
-
-uint8_t
-ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt)
-{
-	if (has_prev && ao_log_running) {
-		uint32_t	h = ao_distance(prev_lat, prev_lon, lat, lon);
-		uint16_t	v = alt > prev_alt ? (alt - prev_alt) : (prev_alt - alt);
-
-		if (h < GPS_SPARSE_UNMOVING_GROUND && v < GPS_SPARSE_UNMOVING_AIR) {
-			if (unmoving < GPS_SPARSE_UNMOVING_REPORTS)
-				++unmoving;
-		} else
-			unmoving = 0;
-	} else
-		unmoving = 0;
-
-	prev_lat = lat;
-	prev_lon = lon;
-	prev_alt = alt;
-	has_prev = 1;
-	return unmoving >= GPS_SPARSE_UNMOVING_REPORTS;
-}
-
 void
 ao_log_gps_flight(void)
 {
 	log.type = AO_LOG_FLIGHT;
 	log.tick = ao_time();
 	log.u.flight.flight = ao_flight_number;
-	log.u.flight.start_altitude = ao_tracker_start_altitude;
-	log.u.flight.start_latitude = ao_tracker_start_latitude;
-	log.u.flight.start_longitude = ao_tracker_start_longitude;
 	ao_log_gps(&log);
 }
 
 void
-ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_data)
+ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data)
 {
 	log.tick = tick;
 	log.type = AO_LOG_GPS_TIME;
@@ -126,7 +92,6 @@ ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_
 	log.u.gps.hdop = gps_data->hdop;
 	log.u.gps.vdop = gps_data->vdop;
 	log.u.gps.mode = gps_data->mode;
-	log.u.gps.state = state;
 	ao_log_gps(&log);
 }
 
diff --git a/src/kernel/ao_log_gps.h b/src/kernel/ao_log_gps.h
index 733db19b..5851f4d1 100644
--- a/src/kernel/ao_log_gps.h
+++ b/src/kernel/ao_log_gps.h
@@ -18,6 +18,9 @@
 #include "ao.h"
 #include "ao_telemetry.h"
 
+#ifndef _AO_LOG_GPS_H_
+#define _AO_LOG_GPS_H_
+
 uint8_t
 ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt);
 
@@ -25,8 +28,6 @@ void
 ao_log_gps_flight(void);
 
 void
-ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_data);
-
-void
-ao_log_gps_tracking(uint16_t tick, struct ao_telemetry_satellite *gps_tracking_data);
+ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data);
 
+#endif /* _AO_LOG_GPS_H_ */
diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index cdf147cd..fb9e75d0 100644
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -23,10 +23,7 @@
 #include <ao_tracker.h>
 #include <ao_exti.h>
 
-enum ao_flight_state	ao_flight_state;
-
-static uint8_t	ao_tracker_force_telem;
-static uint8_t	ao_tracker_force_launch;
+static uint8_t		ao_tracker_force_telem;
 
 #if HAS_USB_CONNECT
 static inline uint8_t
@@ -38,157 +35,22 @@ ao_usb_connected(void)
 #define ao_usb_connected()	1
 #endif
 
-#define STARTUP_AVERAGE	5
-
-int32_t	ao_tracker_start_latitude;
-int32_t	ao_tracker_start_longitude;
-int16_t	ao_tracker_start_altitude;
-
-struct ao_tracker_data	ao_tracker_data[AO_TRACKER_RING];
-uint8_t			ao_tracker_head;
-static uint8_t		ao_tracker_log_pos;
-
-static uint16_t	telem_rate;
-static uint8_t	gps_rate;
-static uint8_t	telem_enabled;
-
-static int64_t	lat_sum, lon_sum;
-static int32_t	alt_sum;
-static int	nsamples;
-
-static void
-ao_tracker_state_update(struct ao_tracker_data *tracker)
-{
-	uint16_t	new_telem_rate;
-	uint8_t		new_gps_rate;
-	uint8_t		new_telem_enabled;
-	uint32_t	ground_distance;
-	int16_t		height;
-	uint16_t	speed;
-
-	new_gps_rate = gps_rate;
-	new_telem_rate = telem_rate;
-
-	new_telem_enabled = ao_tracker_force_telem || !ao_usb_connected();
-
-	/* Don't change anything if GPS isn't locked */
-	if ((tracker->new & AO_GPS_NEW_DATA) &&
-	    (tracker->gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
-	    (AO_GPS_VALID|AO_GPS_COURSE_VALID))
-	{
-		switch (ao_flight_state) {
-		case ao_flight_startup:
-			new_telem_rate = AO_SEC_TO_TICKS(1);
-			new_gps_rate = 1;
-
-			/* startup to pad when GPS locks */
-
-			lat_sum += tracker->gps_data.latitude;
-			lon_sum += tracker->gps_data.longitude;
-			alt_sum += tracker->gps_data.altitude;
-
-			++nsamples;
-
-			if (nsamples >= STARTUP_AVERAGE) {
-				ao_flight_state = ao_flight_pad;
-				ao_wakeup(&ao_flight_state);
-				ao_tracker_start_latitude = lat_sum / nsamples;
-				ao_tracker_start_longitude = lon_sum / nsamples;
-				ao_tracker_start_altitude = alt_sum / nsamples;
-			}
-			break;
-		case ao_flight_pad:
-			new_telem_rate = AO_SEC_TO_TICKS(1);
-			new_gps_rate = 1;
-
-			ground_distance = ao_distance(tracker->gps_data.latitude,
-						      tracker->gps_data.longitude,
-						      ao_tracker_start_latitude,
-						      ao_tracker_start_longitude);
-			height = tracker->gps_data.altitude - ao_tracker_start_altitude;
-			if (height < 0)
-				height = -height;
-
-			if (ground_distance >= ao_config.tracker_start_horiz ||
-			    height >= ao_config.tracker_start_vert ||
-			    ao_tracker_force_launch)
-			{
-				ao_flight_state = ao_flight_drogue;
-				ao_wakeup(&ao_flight_state);
-				ao_tracker_log_pos = ao_tracker_ring_next(ao_tracker_head);
-				ao_log_start();
-				ao_log_gps_flight();
-			}
-			break;
-		case ao_flight_drogue:
-			/* Modulate data rates based on speed (in cm/s) */
-			if (tracker->gps_data.climb_rate < 0)
-				speed = -tracker->gps_data.climb_rate;
-			else
-				speed = tracker->gps_data.climb_rate;
-			speed += tracker->gps_data.ground_speed;
-
-			if (speed < AO_TRACKER_NOT_MOVING) {
-				new_telem_rate = AO_SEC_TO_TICKS(10);
-				new_gps_rate = 10;
-			} else {
-				new_telem_rate = AO_SEC_TO_TICKS(1);
-				new_gps_rate = 1;
-			}
-			break;
-		default:
-			break;
-		}
-	}
-
-	if (new_telem_rate != telem_rate || new_telem_enabled != telem_enabled) {
-		if (new_telem_enabled)
-			ao_telemetry_set_interval(new_telem_rate);
-		else
-			ao_telemetry_set_interval(0);
-		telem_rate = new_telem_rate;
-		telem_enabled = new_telem_enabled;
-	}
-
-	if (new_gps_rate != gps_rate) {
-		ao_gps_set_rate(new_gps_rate);
-		gps_rate = new_gps_rate;
-	}
-}
-
-#if HAS_LOG
-static uint8_t	ao_tracker_should_log;
-
-static void
-ao_tracker_log(void)
-{
-	struct ao_tracker_data	*tracker;
-
-	if (ao_log_running) {
-		while (ao_tracker_log_pos != ao_tracker_head) {
-			tracker = &ao_tracker_data[ao_tracker_log_pos];
-			if (tracker->new & AO_GPS_NEW_DATA) {
-				ao_tracker_should_log = ao_log_gps_should_log(tracker->gps_data.latitude,
-									      tracker->gps_data.longitude,
-									      tracker->gps_data.altitude);
-				if (ao_tracker_should_log)
-					ao_log_gps_data(tracker->tick, tracker->state, &tracker->gps_data);
-			}
-			if (tracker->new & AO_GPS_NEW_TRACKING) {
-				if (ao_tracker_should_log)
-					ao_log_gps_tracking(tracker->tick, &tracker->gps_tracking_data);
-			}
-			ao_tracker_log_pos = ao_tracker_ring_next(ao_tracker_log_pos);
-		}
-	}
-}
-#endif
+static int32_t	last_log_latitude, last_log_longitude;
+static int16_t	last_log_altitude;
+static uint8_t	unmoving;
+static uint8_t	log_started;
+static struct ao_telemetry_location gps_data;
+static uint8_t	tracker_running;
+static uint16_t tracker_interval;
 
 static void
 ao_tracker(void)
 {
-	uint8_t		new;
-	struct ao_tracker_data	*tracker;
+	uint8_t	new;
+	int32_t	ground_distance;
+	int16_t height;
+	uint16_t gps_tick;
+	uint8_t new_tracker_running;
 
 #if HAS_ADC
 	ao_timer_set_adc_interval(100);
@@ -197,45 +59,83 @@ ao_tracker(void)
 #if !HAS_USB_CONNECT
 	ao_tracker_force_telem = 1;
 #endif
-
-	nsamples = 0;
-	lat_sum = 0;
-	lon_sum = 0;
-	alt_sum = 0;
-
 	ao_log_scan();
+	ao_log_start();
 
 	ao_rdf_set(1);
-	ao_telemetry_set_interval(0);
-	telem_rate = AO_SEC_TO_TICKS(1);
-	telem_enabled = 0;
-	gps_rate = 1;
 
-	ao_flight_state = ao_flight_startup;
+	tracker_interval = ao_config.tracker_interval;
+	ao_gps_set_rate(tracker_interval);
+
 	for (;;) {
+
+		/** Wait for new GPS data
+		 */
 		while (!(new = ao_gps_new))
 			ao_sleep(&ao_gps_new);
-
-		/* Stick GPS data into the ring */
 		ao_mutex_get(&ao_gps_mutex);
-		tracker = &ao_tracker_data[ao_tracker_head];
-		tracker->tick = ao_gps_tick;
-		tracker->new = new;
-		tracker->state = ao_flight_state;
-		tracker->gps_data = ao_gps_data;
-		tracker->gps_tracking_data = ao_gps_tracking_data;
-		ao_tracker_head = ao_tracker_ring_next(ao_tracker_head);
-
+		gps_data = ao_gps_data;
+		gps_tick = ao_gps_tick;
 		ao_gps_new = 0;
 		ao_mutex_put(&ao_gps_mutex);
 
-		/* Update state based on current GPS data */
-		ao_tracker_state_update(tracker);
+		new_tracker_running = ao_tracker_force_telem || !ao_usb_connected();
 
-#if HAS_LOG
-		/* Log all gps data */
-		ao_tracker_log();
-#endif
+		if (ao_config.tracker_interval != tracker_interval) {
+			tracker_interval = ao_config.tracker_interval;
+			ao_gps_set_rate(tracker_interval);
+
+			/* force telemetry interval to be reset */
+			tracker_running = 0;
+		}
+
+		if (new_tracker_running && !tracker_running) {
+			ao_telemetry_set_interval(AO_SEC_TO_TICKS(tracker_interval));
+		} else if (!new_tracker_running && tracker_running) {
+			ao_telemetry_set_interval(0);
+		}
+
+		tracker_running = new_tracker_running;
+
+		if (!tracker_running)
+			continue;
+
+		if (new & AO_GPS_NEW_DATA) {
+			if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+			    (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+			{
+				if (log_started) {
+					ground_distance = ao_distance(gps_data.latitude, gps_data.longitude,
+								      last_log_latitude, last_log_longitude);
+					height = last_log_altitude - gps_data.altitude;
+					if (height < 0)
+						height = -height;
+					if (ground_distance <= ao_config.tracker_motion &&
+					    height <= ao_config.tracker_motion)
+					{
+						if (unmoving < AO_TRACKER_MOTION_COUNT)
+							unmoving++;
+					} else
+						unmoving = 0;
+				}
+			} else {
+				if (!log_started)
+					continue;
+				if (unmoving < AO_TRACKER_MOTION_COUNT)
+					unmoving++;
+			}
+
+			if (unmoving < AO_TRACKER_MOTION_COUNT) {
+				if (!log_started) {
+					ao_log_gps_flight();
+					log_started = 1;
+				}
+				ao_log_gps_data(gps_tick, &gps_data);
+				last_log_latitude = gps_data.latitude;
+				last_log_longitude = gps_data.longitude;
+				last_log_altitude = gps_data.altitude;
+			}
+		}
 	}
 }
 
@@ -244,18 +144,23 @@ static struct ao_task ao_tracker_task;
 static void
 ao_tracker_set_telem(void)
 {
-	uint8_t	telem, launch;
+	uint8_t	telem;
 	ao_cmd_hex();
 	telem = ao_cmd_lex_i;
-	ao_cmd_hex();
-	launch = ao_cmd_lex_i;
-	if (ao_cmd_status == ao_cmd_success) {
+	if (ao_cmd_status == ao_cmd_success)
 		ao_tracker_force_telem = telem;
-		ao_tracker_force_launch = launch;
-	}
 	ao_cmd_status = ao_cmd_success;
-	printf ("flight %d force telem %d force launch %d\n",
-		ao_flight_number, ao_tracker_force_telem, ao_tracker_force_launch);
+	printf ("flight: %d\n", ao_flight_number);
+	printf ("force_telem: %d\n", ao_tracker_force_telem);
+	printf ("log_started: %d\n", log_started);
+	printf ("unmoving: %d\n", unmoving);
+	printf ("latitude: %ld\n", (long) gps_data.latitude);
+	printf ("longitude: %ld\n", (long) gps_data.longitude);
+	printf ("altitude: %d\n", gps_data.altitude);
+	printf ("log_running: %d\n", ao_log_running);
+	printf ("log_start_pos: %ld\n", (long) ao_log_start_pos);
+	printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos);
+	printf ("log_end_pos: %ld\n", (long) ao_log_end_pos);
 }
 
 static const struct ao_cmds ao_tracker_cmds[] = {
diff --git a/src/kernel/ao_tracker.h b/src/kernel/ao_tracker.h
index 63bdaf2f..a0fd2f49 100644
--- a/src/kernel/ao_tracker.h
+++ b/src/kernel/ao_tracker.h
@@ -18,31 +18,12 @@
 #ifndef _AO_TRACKER_H_
 #define _AO_TRACKER_H_
 
-#define AO_CONFIG_DEFAULT_TRACKER_START_HORIZ	1000
-#define AO_CONFIG_DEFAULT_TRACKER_START_VERT	100
+/* Any motion more than this will result in a log entry */
 
-/* Speeds for the various modes, 2m/s seems reasonable for 'not moving' */
-#define AO_TRACKER_NOT_MOVING	200
+#define AO_TRACKER_MOTION_DEFAULT	10
+#define AO_TRACKER_INTERVAL_DEFAULT	1
 
-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	4
-
-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))
+#define AO_TRACKER_MOTION_COUNT		10
 
 void
 ao_tracker_init(void);
diff --git a/src/telegps-v0.3/ao_telegps.c b/src/telegps-v0.3/ao_telegps.c
index bc7eeea8..dd699ecf 100644
--- a/src/telegps-v0.3/ao_telegps.c
+++ b/src/telegps-v0.3/ao_telegps.c
@@ -52,7 +52,6 @@ main(void)
 	ao_tracker_init();
 
 	ao_telemetry_init();
-	ao_telemetry_set_interval(AO_SEC_TO_TICKS(1));
 
 #if HAS_SAMPLE_PROFILE
 	ao_sample_profile_init();
diff --git a/src/telegps-v1.0/ao_telegps.c b/src/telegps-v1.0/ao_telegps.c
index 1185a5dd..7a71699b 100644
--- a/src/telegps-v1.0/ao_telegps.c
+++ b/src/telegps-v1.0/ao_telegps.c
@@ -55,7 +55,6 @@ main(void)
 	ao_tracker_init();
 
 	ao_telemetry_init();
-	ao_telemetry_set_interval(AO_SEC_TO_TICKS(1));
 
 #if HAS_SAMPLE_PROFILE
 	ao_sample_profile_init();
-- 
cgit v1.2.3


From 44ca50a2c9404c92cc887a23dfa25b335ebe6198 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 10 Jun 2014 09:55:04 -0700
Subject: altos: Set TeleGPS default log size to half of avaiable memory

LPC11U14 doesn't have on-chip config space, so we're consuming a block
of external flash. As a result, only 1984kB are available for
logging. Set the default log size to half of that to store two flights.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/telegps-v0.3/ao_pins.h | 2 +-
 src/telegps-v1.0/ao_pins.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

(limited to 'src/telegps-v0.3')

diff --git a/src/telegps-v0.3/ao_pins.h b/src/telegps-v0.3/ao_pins.h
index 343e3301..83151179 100644
--- a/src/telegps-v0.3/ao_pins.h
+++ b/src/telegps-v0.3/ao_pins.h
@@ -73,7 +73,7 @@
 
 #define AO_CONFIG_DEFAULT_APRS_INTERVAL		0
 #define AO_CONFIG_DEFAULT_RADIO_POWER		0xc0
-#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	1024 * 1024
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	992 * 1024
 
 /*
  * GPS
diff --git a/src/telegps-v1.0/ao_pins.h b/src/telegps-v1.0/ao_pins.h
index 5c58b34d..da6f466b 100644
--- a/src/telegps-v1.0/ao_pins.h
+++ b/src/telegps-v1.0/ao_pins.h
@@ -75,7 +75,7 @@
 
 #define AO_CONFIG_DEFAULT_APRS_INTERVAL		0
 #define AO_CONFIG_DEFAULT_RADIO_POWER		0xc0
-#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	1024 * 1024
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	992 * 1024
 
 /*
  * GPS
-- 
cgit v1.2.3


From 0495f1b5282d8f7449cbbc1dbf99d63818d7c03c Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 11 Jun 2014 23:26:36 -0700
Subject: altos/telegps: Build .ihx versions for TeleGPS

Needed to load with java

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/telegps-v0.3/Makefile | 3 ++-
 src/telegps-v1.0/Makefile | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

(limited to 'src/telegps-v0.3')

diff --git a/src/telegps-v0.3/Makefile b/src/telegps-v0.3/Makefile
index 27279792..1eaf7c47 100644
--- a/src/telegps-v0.3/Makefile
+++ b/src/telegps-v0.3/Makefile
@@ -60,11 +60,12 @@ CFLAGS = $(PRODUCT_DEF) $(LPC_CFLAGS) $(PROFILE_DEF) -Os -g
 
 PROGNAME=telegps-v0.3
 PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
 
 SRC=$(ALTOS_SRC) ao_telegps.c
 OBJ=$(SRC:.c=.o)
 
-all: $(PROG)
+all: $(PROG) $(HEX)
 
 LDFLAGS=-L../lpc -Wl,-Taltos.ld
 
diff --git a/src/telegps-v1.0/Makefile b/src/telegps-v1.0/Makefile
index 7513aad9..bd13cfe7 100644
--- a/src/telegps-v1.0/Makefile
+++ b/src/telegps-v1.0/Makefile
@@ -63,11 +63,12 @@ CFLAGS = $(PRODUCT_DEF) $(LPC_CFLAGS) $(PROFILE_DEF) -Os -g
 
 PROGNAME=telegps-v1.0
 PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
 
 SRC=$(ALTOS_SRC) ao_telegps.c
 OBJ=$(SRC:.c=.o)
 
-all: $(PROG)
+all: $(PROG) $(HEX)
 
 LDFLAGS=-L../lpc -Wl,-Taltos.ld
 
-- 
cgit v1.2.3


From 740d964ab82da8695c04650926afee4a0905011c Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Thu, 12 Jun 2014 21:53:07 -0700
Subject: altos/telegps: Set default log to 496kB for 4 logs

This leaves space for four flight logs.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/telegps-v0.3/ao_pins.h | 2 +-
 src/telegps-v1.0/ao_pins.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

(limited to 'src/telegps-v0.3')

diff --git a/src/telegps-v0.3/ao_pins.h b/src/telegps-v0.3/ao_pins.h
index 83151179..d0e4d835 100644
--- a/src/telegps-v0.3/ao_pins.h
+++ b/src/telegps-v0.3/ao_pins.h
@@ -73,7 +73,7 @@
 
 #define AO_CONFIG_DEFAULT_APRS_INTERVAL		0
 #define AO_CONFIG_DEFAULT_RADIO_POWER		0xc0
-#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	992 * 1024
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	496 * 1024
 
 /*
  * GPS
diff --git a/src/telegps-v1.0/ao_pins.h b/src/telegps-v1.0/ao_pins.h
index da6f466b..5f53dd9d 100644
--- a/src/telegps-v1.0/ao_pins.h
+++ b/src/telegps-v1.0/ao_pins.h
@@ -75,7 +75,7 @@
 
 #define AO_CONFIG_DEFAULT_APRS_INTERVAL		0
 #define AO_CONFIG_DEFAULT_RADIO_POWER		0xc0
-#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	992 * 1024
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX	496 * 1024
 
 /*
  * GPS
-- 
cgit v1.2.3