extern void get_control(double time, struct sensordata *sensorData_ptr, struct nav *navData_ptr, struct control *controlData_ptr, struct mission *missionData_ptr) {
unsigned short claw_mode = missionData_ptr -> claw_mode; // mode switching
unsigned short claw_select = missionData_ptr -> claw_select; // mode switching
static int t0_latched = FALSE; // time latching
static double t0 = 0;
double flare_time;
switch(claw_mode){
case 0: // experiment mode
t0_latched = FALSE;
switch(claw_select){
case 0: // chirp, open loop L3/R3, L4/R4 at 23 m/s
reset_tracker();
missionData_ptr -> run_excitation = 1;
missionData_ptr -> sysid_select = 0;
open_loop(time, exp_speed, sensorData_ptr, navData_ptr, controlData_ptr);
break;
case 1: // 3211, open loop L3/R3, L4/R4 at 17 m/s
reset_tracker();
missionData_ptr -> run_excitation = 1;
missionData_ptr -> sysid_select = 1;
open_loop(time, flare_speed, sensorData_ptr, navData_ptr, controlData_ptr);
break;
default: // 3211, open loop L3/R3, L4/R4 at 20 m/s
reset_tracker();
missionData_ptr -> run_excitation = 1;
missionData_ptr -> sysid_select = 1;
open_loop(time, trim_speed, sensorData_ptr, navData_ptr, controlData_ptr);
break;
}
break;
case 2: // autolanding mode
missionData_ptr -> run_excitation = 0;
switch(claw_select){
case 0: // approach
t0_latched = FALSE;
approach_control(time, sensorData_ptr, navData_ptr, controlData_ptr);
break;
case 1: // flare
if(t0_latched == FALSE){ // get the time since flare started
t0 = time;
t0_latched = TRUE;
}
flare_time = time - t0;
flare_control(flare_time, sensorData_ptr, navData_ptr, controlData_ptr);
break;
default: // pilot guidance
t0_latched = FALSE;
pilot_flying(time, (flare_speed + pilot_flare_delta), sensorData_ptr, navData_ptr, controlData_ptr);
break;
}
break;
default: // pilot mode
missionData_ptr -> run_excitation = 0;
t0_latched = FALSE;
pilot_flying(time, trim_speed,sensorData_ptr, navData_ptr, controlData_ptr);
break;
}
}
void
init_tracker_for_transfer (void)
{
unsigned char data[100];
int n;
protocol_channel = 0;
init_fitbit ();
wait_for_beacon ();
reset_tracker ();
while (1) {
device_number = getrandom () & 0xffff;
if (device_number != 0 && device_number != 0xffff)
break;
}
pairing_request = 0;
device_type = 1;
transmission_type = 1;
dbg ("init_tracker_for_transfer: tell device to change dev num\n");
n = 0;
data[n++] = 0x78;
data[n++] = 0x02;
data[n++] = device_number;
data[n++] = device_number >> 8;
data[n++] = 0x00;
data[n++] = 0x00;
data[n++] = 0x00;
data[n++] = 0x00;
protocol_send_acknowledged_data (data, n);
protocol_close_channel ();
/*
* we're supposed to wait for EVENT_CHANNEL_CLOSED but it never
* seems to come
*/
soak (.2);
dbg ("hoping channel close has happened...\n");
init_device_channel (device_number,
pairing_request, device_type,
transmission_type);
wait_for_beacon ();
ping_tracker ();
}
