altos: Ignore ejection bumps when doing boost re-detect

[fw/altos] / src / core / ao_flight.c

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 85c1825bddfebf68c06f2d2b055c511eddae4164..5e19463867bb85718dabbd7ec93c9cce256290f8 100644 (file)
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -34,15 +34,17 @@
 /* Main flight thread. */
 
 __pdata enum ao_flight_state   ao_flight_state;        /* current flight state */
-__pdata uint16_t               ao_launch_tick;         /* time of launch detect */
+__pdata uint16_t               ao_boost_tick;          /* time of launch detect */
 
 /*
  * track min/max data over a long interval to detect
  * resting
  */
-__pdata uint16_t               ao_interval_end;
-__pdata int16_t                        ao_interval_min_height;
-__pdata int16_t                        ao_interval_max_height;
+static __data uint16_t         ao_interval_end;
+static __data int16_t          ao_interval_min_height;
+static __data int16_t          ao_interval_max_height;
+static __data int16_t          ao_coast_avg_accel;
+
 __pdata uint8_t                        ao_flight_force_idle;
 
 /* We also have a clock, which can be used to sanity check things in
@@ -91,6 +93,8 @@ ao_flight(void)
                                 */
                                ao_flight_state = ao_flight_invalid;
 
+                               /* Turn on packet system in invalid mode on TeleMetrum */
+                               ao_packet_slave_start();
                        } else
 #endif
                                if (!ao_flight_force_idle
@@ -108,8 +112,10 @@ ao_flight(void)
                                ao_usb_disable();
 #endif
 
-                               /* Disable packet mode in pad state */
+#if !HAS_ACCEL
+                               /* Disable packet mode in pad state on TeleMini */
                                ao_packet_slave_stop();
+#endif
 
                                /* Turn on telemetry system */
                                ao_rdf_set(1);
@@ -121,6 +127,11 @@ ao_flight(void)
                                /* Set idle mode */
                                ao_flight_state = ao_flight_idle;
  
+#if HAS_ACCEL
+                               /* Turn on packet system in idle mode on TeleMetrum */
+                               ao_packet_slave_start();
+#endif
+
                                /* signal successful initialization by turning off the LED */
                                ao_led_off(AO_LED_RED);
                        }
@@ -151,7 +162,7 @@ ao_flight(void)
                                )
                        {
                                ao_flight_state = ao_flight_boost;
-                               ao_launch_tick = ao_sample_tick;
+                               ao_boost_tick = ao_sample_tick;
 
                                /* start logging data */
                                ao_log_start();
@@ -184,10 +195,11 @@ ao_flight(void)
                         * (15 seconds) has past.
                         */
                        if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
-                           (int16_t) (ao_sample_tick - ao_launch_tick) > BOOST_TICKS_MAX)
+                           (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
                        {
 #if HAS_ACCEL
                                ao_flight_state = ao_flight_fast;
+                               ao_coast_avg_accel = ao_accel;
 #else
                                ao_flight_state = ao_flight_coast;
 #endif
@@ -205,7 +217,8 @@ ao_flight(void)
                        {
                                ao_flight_state = ao_flight_coast;
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-                       }
+                       } else
+                               goto check_re_boost;
                        break;
 #endif
                case ao_flight_coast:
@@ -237,6 +250,17 @@ ao_flight(void)
                                ao_flight_state = ao_flight_drogue;
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
+#if HAS_ACCEL
+                       else {
+                       check_re_boost:
+                               ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
+                               if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
+                                       ao_boost_tick = ao_sample_tick;
+                                       ao_flight_state = ao_flight_boost;
+                                       ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+                               }
+                       }
+#endif
 
                        break;
                case ao_flight_drogue: