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altos: Add separate 'ao_launch_tick'. Use in pyro and lockout.
[fw/altos]
/
src
/
kernel
/
ao_flight.c
diff --git
a/src/kernel/ao_flight.c
b/src/kernel/ao_flight.c
index 7b3cb9fa6411055667c4fb82844c6582029a4c1b..c2700d20bddb41801bacb0d560291a50aaad4bb0 100644
(file)
--- a/
src/kernel/ao_flight.c
+++ b/
src/kernel/ao_flight.c
@@
-48,7
+48,8
@@
/* Main flight thread. */
__pdata enum ao_flight_state ao_flight_state; /* current flight state */
/* Main flight thread. */
__pdata enum ao_flight_state ao_flight_state; /* current flight state */
-__pdata uint16_t ao_boost_tick; /* time of launch detect */
+__pdata uint16_t ao_boost_tick; /* time of most recent boost detect */
+__pdata uint16_t ao_launch_tick; /* time of first boost detect */
__pdata uint16_t ao_motor_number; /* number of motors burned so far */
#if HAS_SENSOR_ERRORS
__pdata uint16_t ao_motor_number; /* number of motors burned so far */
#if HAS_SENSOR_ERRORS
@@
-199,7
+200,7
@@
ao_flight(void)
)
{
ao_flight_state = ao_flight_boost;
)
{
ao_flight_state = ao_flight_boost;
- ao_boost_tick = ao_sample_tick;
+ ao_
launch_tick = ao_
boost_tick = ao_sample_tick;
/* start logging data */
ao_log_start();
/* start logging data */
ao_log_start();
@@
-269,7
+270,7
@@
ao_flight(void)
* number of seconds.
*/
if (ao_config.apogee_lockout) {
* number of seconds.
*/
if (ao_config.apogee_lockout) {
- if ((int16_t) (ao_sample_tick - ao_
boost
_tick) <
+ if ((int16_t) (ao_sample_tick - ao_
launch
_tick) <
AO_SEC_TO_TICKS(ao_config.apogee_lockout))
break;
}
AO_SEC_TO_TICKS(ao_config.apogee_lockout))
break;
}