Revision 50:030da136eacb, committed 2014-04-26

Comitter:

krobertson

Date:

Sat Apr 26 04:26:48 2014 +0000

Parent:

48:dc9269ce9a79

Parent:

49:06721139d298

Child:

51:d6b64ac3c30d

Commit message:

pulling

Changed in this revision

--- a/handle/handleCompass.cpp	Sat Apr 26 04:03:20 2014 +0000
+++ b/handle/handleCompass.cpp	Sat Apr 26 04:26:48 2014 +0000
@@ -19,5 +19,5 @@
     }
     compass.read();
     heading = compass.get_heading();
-    USB::getSerial().printf("Compass heading: %f\r\n",heading);
+    //USB::getSerial().printf("Compass heading: %f\r\n",heading);
 }
\ No newline at end of file

--- a/handle/handleGPS.cpp	Sat Apr 26 04:03:20 2014 +0000
+++ b/handle/handleGPS.cpp	Sat Apr 26 04:26:48 2014 +0000
@@ -62,7 +62,7 @@
 bool GPSHandle::if_image_location(){
     double lon_thresh = 0.00005;
     double lat_thresh = 0.000035;
-    USB::getSerial().printf("Checking if at waypoint\r\n");
+    //USB::getSerial().printf("Checking if at waypoint\r\n");
     DataLocation current_loc = DH::Locs().getC(LHType_locs,DH::Locs().getI(LHType_locs));
     DataLocation next_waypoint = DH::Locs().getC(LHType_targ,DH::Locs().getI(LHType_targ));
     USB::getSerial().printf("current: %f,%f ... waypoint: %f,%f \r\n",current_loc.getLat(),current_loc.getLon(),next_waypoint.getLat(),next_waypoint.getLon());

--- a/main.cpp	Sat Apr 26 04:03:20 2014 +0000
+++ b/main.cpp	Sat Apr 26 04:26:48 2014 +0000
@@ -137,26 +137,26 @@
     //Main Loop
     int count = 0;
         while(1){
-            USB::getSerial().printf("Running GPS...\r\n");
+            //USB::getSerial().printf("Running GPS...\r\n");
             GPSHandle::getGPSHand().run();
-            USB::getSerial().printf("Running Compass...\r\n");
+            //USB::getSerial().printf("Running Compass...\r\n");
             compassHandle::getCompassHand().run();
-            USB::getSerial().printf("Requesting commands from egg...\r\n");
             if(count % 100 == 0){
+                USB::getSerial().printf("Requesting commands from egg...\r\n");
                 wait_us(100000);
                 CommandHandle::getCommandHand().run();
                 wait_us(100000);
-            }
-            if(GPSHandle::getGPSHand().if_image_location()){
-                USB::getSerial().printf("Taking picture and sending...\r\n");
-                wait_us(100000);
-                ImageHandle::getImageHand().run();
-                USB::getSerial().printf("sent all data\r\n");
-                wait_us(100000);
-                GPSHandle::getGPSHand().next_waypoint();
-                wait_us(100000);
-            }else{
-                //USB::getSerial().printf("Not close enough to waypoint for image\r\n");
+                if(GPSHandle::getGPSHand().if_image_location()){
+                    USB::getSerial().printf("Taking picture and sending...\r\n");
+                    wait_us(100000);
+                    ImageHandle::getImageHand().run();
+                    USB::getSerial().printf("sent all data\r\n");
+                    wait_us(100000);
+                    GPSHandle::getGPSHand().next_waypoint();
+                    wait_us(100000);
+                }else{
+                    //USB::getSerial().printf("Not close enough to waypoint for image\r\n");
+                }
             }
             count++;
         //}

--- a/packet.h	Sat Apr 26 04:03:20 2014 +0000
+++ b/packet.h	Sat Apr 26 04:26:48 2014 +0000
@@ -72,6 +72,7 @@
         EvTimer t;
         t.set_s_period(30);
         t.start_timer();
+        char con_status_steady;
         char timed_out = 0;
         do{
             USB::getSerial().printf("trying to connect...\r\n");
@@ -81,18 +82,28 @@
                 wait_us(200000);
             }
             setTCPConStatus = 1;
+            con_status_steady = 1;
             wait_us(200000);
+            for(int i=0;i<10;i++){
+                if(!getTCPConStatus){
+                    con_status_steady = 0;
+                    break;
+                }
+                wait_us(1000);
+            }
             timed_out = t.get_num_trips();
-        }while(!getTCPConStatus && !timed_out);
+        }while(!con_status_steady && !timed_out);
         t.stop_timer();
         if(timed_out>0){
             if(hover_attempt){
                 //emergency landing goes here
                 USB::getSerial().printf("Second Attempt Connection failure. Emergency Landing.\r\n");
+                wait_us(10000000);
             }else{
                 //hover and give it another shot
                 USB::getSerial().printf("First Attempt Connection failure. Hover and retry.\r\n");
                 //hover code goes here
+                wait_us(10000000);
                 openConnection(close_conn, 1);
             }
         }
@@ -117,13 +128,13 @@
         if(serialDevice == NULL){
             serialDevice = &outputDevice;
         }
-        if(seconds==0 && u_seconds==0){
-            seconds = 3.0;
-        }
         if(serialDevice->readable()){
             return 1;
         }else{
             EvTimer t;
+             if(seconds==0 && u_seconds==0){
+                seconds = 3.0;
+            }
             if(seconds>0){
                 t.set_s_period(seconds);
             }else{
@@ -132,6 +143,7 @@
             t.start_timer();
             while(t.get_num_trips() == 0){
                 if(serialDevice->readable()){
+                    t.stop_timer();
                     return 1;
                 }
             }