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fix reboot options

pull/1/head
Mathis et Yohan 2021-11-24 17:45:07 +01:00
rodzic 8b48673a4d
commit 13d312acb4
1 zmienionych plików z 15 dodań i 6 usunięć
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21
RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.01/R2Home_OBC_V1.01.ino
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@ -12,6 +12,7 @@
// ----------------------------------- SETUP PANEL ----------------------------------- //
#define i_want_to_fly false
#define no_init false
#define autopilot_mode 1
#define drop true
#define record_home false
@ -19,10 +20,12 @@
#define vup 1.5
#define vdown 2
#define time_out 300
#define gps_port Serial7
#define bcritical 3.7
#define blow 3.8
#define bcritical 3.4
#define blow 3.5
#define no_batt 4.0
#define servo_man_min 1100
@ -459,6 +462,11 @@ void datacmpt() {
if (abs(prev_gps-gps.altitude.meters())<1 and (gps.altitude.meters() != 0)) { gps_count = (gps_count + 1); }
else { gps_count = 0; }
if (gps_count >= 10) { gps_stab = true; }
else if(millis()<(time_out*1000)) { gps_stab = false; }
else { gps_stab = true; }
if (vspeed_count >= 10) { baro_stab = true; }
else { baro_stab = false; }
@ -789,9 +797,9 @@ void flight_state() {
void flight_init() {
if (reboot_state == 0) {
if (reboot_state !=1) {
if ((gps.satellites.value() >= 6) and (gps_ok == true) and (gps_stab == true) and (millis()>5000)) {
if (((gps.satellites.value() >= 6) and (gps_ok == true) and (gps_stab == true) and (millis()>5000)) or (no_init == true)) {
EasyBuzzer.beep(3000,100,50,10,500,1);
lat_B = gps.location.lat();
@ -855,7 +863,7 @@ void flight_init() {
sprintf(namebuff, "%s.txt", sdnamebuff);
reboot_state = 0;
EEPROM.write(0, 0);
EEPROM.put(0, 0);
}
}
@ -875,7 +883,7 @@ void ready_steady() {
if (vspeed>vup) { flight_mode = 2; EasyBuzzer.beep(1000,100,50,2,500,1); strip.setBrightness(75); }
if (vspeed<vdown) { flight_mode = 3; EasyBuzzer.beep(3000,100,50,3,500,1); strip.setBrightness(100); }
if (atof(fix_type.value()) < 2) { flight_mode = 0; EasyBuzzer.beep(700,100,50,3,500,1); strip.setBrightness(50); }
if ((atof(fix_type.value()) < 2) and (no_init == false)) { flight_mode = 0; EasyBuzzer.beep(700,100,50,3,500,1); strip.setBrightness(50); }
}
}
@ -1261,6 +1269,7 @@ void newfile() {
else {
SdFile::dateTimeCallback(dateTime);
dataFile = SD.open(namebuff, FILE_WRITE);
delay(10);
if (dataFile) {
dataFile.println("time (ms), Packet_Count (text), Mode (text), GPS_Ok (text), COG_Ok (text), FailSafe (text), GPS_Stab (text), Baro_Stab (text), Deployed (text), Wing_Opened (text), Initialised (tex), Vbatt (V), Looptime (µS), GPS-date, GPS-time, lat (deg), lon (deg), alt (m), CoG (deg), Speed (m/s), Sat_in_use (text), HDOP (text), Position_Age (text), Fix_type (text), Baro_Alt (m), Vertical_Speed (m/s), Altitude (m), Baro_Weight (text), GPS_Weight (text), SetPoint_Home (deg), Err_Home (deg), Rate_Error (deg), Next_Cog (deg), Cmd_mult (text), LatB (deg), LonB (deg), Ch 0 (µs), Ch 1 (µs), Ch 2 (µs), Ch 3 (µs), Ch 4 (µs), Ch 5 (µs), Ch 6 (µs), PWM_L (µs), PWM_R (µs), PWM_D (µs)");
dataFile.close();