void fc_step()
{
gps_step();
bt_step();
if ((fc.time_flags & TIME_SYNC) && fc.gps_data.fix_cnt == GPS_FIX_TIME_SYNC)
{
fc_sync_gps_time();
}
}
void fc_step()
{
//using fake data
#ifdef FAKE_ENABLE
return;
#endif
gps_step();
bt_step();
protocol_step();
logger_step();
wind_step();
//logger always enabled
if (config.autostart.flags & AUTOSTART_ALWAYS_ENABLED)
{
if (fc.vario.valid && fc.flight.state == FLIGHT_WAIT)
{
fc_takeoff();
}
}
else
{
//auto start
// baro valid, waiting to take off or landed, and enabled auto start
if (fc.vario.valid && (fc.flight.state == FLIGHT_WAIT || fc.flight.state == FLIGHT_LAND) && config.autostart.start_sensititvity > 0)
{
if (abs(fc.altitude1 - fc.flight.autostart_altitude) > config.autostart.start_sensititvity)
{
fc_takeoff();
}
else
{
uint32_t t = task_get_ms_tick();
if(t < fc.flight.autostart_timer)
{
assert(0);
DEBUG("old %lu\n", fc.flight.autostart_timer);
DEBUG("act %lu\n", t);
}
//reset wait timer
if (t - fc.flight.autostart_timer > (uint32_t)config.autostart.timeout * 1000ul)
{
fc.flight.autostart_timer = t;
fc.flight.autostart_altitude = fc.altitude1;
}
}
}
//auto land
// flying and auto land enabled
if (fc.flight.state == FLIGHT_FLIGHT && config.autostart.land_sensititvity > 0)
{
if (abs(fc.altitude1 - fc.flight.autostart_altitude) < config.autostart.land_sensititvity)
{
uint32_t tick = task_get_ms_tick();
if (tick < fc.flight.autostart_timer)
{
assert(0);
DEBUG("TT %lu\n", tick);
DEBUG("AT %lu\n", fc.flight.autostart_timer);
}
else if (tick - fc.flight.autostart_timer > (uint32_t)config.autostart.timeout * 1000ul)
{
//reduce timeout from flight time
fc.flight.timer += (uint32_t)config.autostart.timeout * 1000ul;
gui_reset_timeout();
fc_landing();
}
}
else
{
fc.flight.autostart_altitude = fc.altitude1;
fc.flight.autostart_timer = task_get_ms_tick();
}
}
}
//gps time sync
if ((config.system.time_flags & TIME_SYNC) && fc.gps_data.fix_cnt == GPS_FIX_TIME_SYNC)
{
if (config.gui.menu_audio_flags & CFG_AUDIO_MENU_GPS)
seq_start(&gps_ready, config.gui.alert_volume);
fc_sync_gps_time();
fc.gps_data.fix_cnt++;
}
//glide ratio
//when you have GPS, baro and speed is higher than 2km/h and you are sinking <= -0.01
if (fc.gps_data.valid && fc.vario.valid && fc.gps_data.groud_speed > FC_GLIDE_MIN_KNOTS && fc.vario.avg <= FC_GLIDE_MIN_SINK)
{
float spd_m = fc.gps_data.groud_speed * FC_KNOTS_TO_MPS;
fc.glide_ratio = spd_m / abs(fc.vario.avg);
fc.glide_ratio_valid = true;
}
else
{
fc.glide_ratio_valid = false;
}
//flight logger
if (config.logger.enabled)
{
if (fc.flight.state == FLIGHT_FLIGHT && !logger_active() && time_is_set() && !logger_error())
{
logger_start();
}
}
//flight statistic
if (fc.flight.state == FLIGHT_FLIGHT)
{
int16_t t_vario = fc.vario.avg * 100;
if (fc.altitude1 > fc.flight.stats.max_alt)
fc.flight.stats.max_alt = fc.altitude1;
if (fc.altitude1 < fc.flight.stats.min_alt)
fc.flight.stats.min_alt = fc.altitude1;
if (t_vario > fc.flight.stats.max_climb)
fc.flight.stats.max_climb = t_vario;
if (t_vario < fc.flight.stats.max_sink)
fc.flight.stats.max_sink = t_vario;
}
}
void gui_set_gps_action(uint8_t index)
{
uint8_t tmp;
switch(index)
{
case(0):
config.system.use_gps = !config.system.use_gps;
eeprom_busy_wait();
eeprom_update_byte(&config_ee.system.use_gps, config.system.use_gps);
if (config.system.use_gps)
gps_start();
else
gps_stop();
break;
case(1):
if (!config.system.use_gps)
gui_showmessage_P(PSTR("Enable GPS first"));
else
gui_switch_task(GUI_SET_GPS_DETAIL);
break;
case(2):
if (config.system.use_gps)
{
if (fc.gps_data.fix_cnt > GPS_FIX_TIME_SYNC)
fc_sync_gps_time();
else
gui_showmessage_P(PSTR("Wait for GPS"));
}
else
gui_showmessage_P(PSTR("Enable GPS first"));
break;
case(3):
if (config.system.use_gps)
{
if (fc.gps_data.fix_cnt > GPS_FIX_TIME_SYNC)
fc_sync_gps_time();
else
gui_showmessage_P(PSTR("Wait for GPS"));
}
else
gui_showmessage_P(PSTR("Enable GPS first"));
break;
case(4):
tmp = (config.system.gps_format_flags & GPS_SPD_MASK) >> 0;
tmp = (tmp + 1) % 4;
config.system.gps_format_flags = (config.system.gps_format_flags & ~GPS_SPD_MASK) | (tmp << 0);
eeprom_busy_wait();
eeprom_update_byte(&config_ee.system.gps_format_flags, config.system.gps_format_flags);
break;
case(5):
tmp = (config.system.gps_format_flags & GPS_FORMAT_MASK) >> 2;
tmp = (tmp + 1) % 3;
config.system.gps_format_flags = (config.system.gps_format_flags & ~GPS_FORMAT_MASK) | (tmp << 2);
eeprom_busy_wait();
eeprom_update_byte(&config_ee.system.gps_format_flags, config.system.gps_format_flags);
break;
}
}