update with more integration stuff.

1 files changed, 18 insertions, 2 deletions

diff --git a/src/survive_process.c b/src/survive_process.c
index 184532b..cb53588 100644
--- a/src/survive_process.c
+++ b/src/survive_process.c
@@ -8,13 +8,29 @@
 
 void survive_default_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length  )
 {
+	struct SurviveContext * ctx = so->ctx;
+	int base_station = acode >> 2;
+	int axis = acode & 1;
 
-	if( so->ctx->calptr )
+	if( ctx->calptr )
 	{
 		survive_cal_light( so, sensor_id, acode, timeinsweep, timecode, length );
 	}
 
-	//TODO: Writeme!
+	if( base_station > NUM_LIGHTHOUSES ) return;
+
+	//No loner need sync information past this point.
+	if( sensor_id < 0 ) return;
+
+	float angle = (timeinsweep - 200000) * (1./200000. * 3.14159265359/2.0);
+
+	//Need to now do angle correction.
+#if 1
+	struct BaseStationData * bsd = &ctx->bsd[base_station];
+
+	//TODO!!!
+#endif
+	
 }
 
 void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id )