Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown

Dependencies:   mbed MODSERIAL FATFileSystem

Diff: StateMachine/StateMachine.cpp

Revision:
25:249e4d56b27c
Parent:
24:c7d9b5bf3829
Child:
26:7e118fc02eea
--- a/StateMachine/StateMachine.cpp	Wed Nov 29 15:19:14 2017 +0000
+++ b/StateMachine/StateMachine.cpp	Wed Nov 29 15:42:12 2017 +0000
@@ -457,11 +457,11 @@
  
             // how exit?
             //once reached the travel limit, no need to keep trying, so exit
-//            if (bce().getPosition_mm() <= 0) {
-//                pc().printf("\n\rDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\n\r", bce().getPosition_mm());
-//                _substate = NEUTRAL_EXIT;
-//                isSubStateTimerRunning = false; // reset the sub state timer
-//            }         
+            if (bce().getPosition_mm() <= 0) {
+                pc().printf("\n\rDEBUG: BCE current position is %0.1f mm (NEXT SUBSTATE NEUTRAL EXIT)\n\r", bce().getPosition_mm());
+                _substate = NEUTRAL_EXIT;
+                isSubStateTimerRunning = false; // reset the sub state timer
+            }         
             //once deeper than the commanded setpoint...
             else if (depthLoop().getPosition() > depthCommand) {
                 _substate = NEUTRAL_SLOWLY_RISE; // next state