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altos/telelco-v0.2-cc1200: Add build for NAR hacked TeleLCO v0.2 board
[fw/altos]
/
src
/
kernel
/
ao_flight.c
diff --git
a/src/kernel/ao_flight.c
b/src/kernel/ao_flight.c
index 50f2b68f998f3df1c7960bfb64ffb6153e15de6f..7b3cb9fa6411055667c4fb82844c6582029a4c1b 100644
(file)
--- a/
src/kernel/ao_flight.c
+++ b/
src/kernel/ao_flight.c
@@
-21,7
+21,7
@@
#include <ao_log.h>
#endif
#include <ao_log.h>
#endif
-#if HAS_MPU6000
+#if HAS_MPU6000
|| HAS_MPU9250
#include <ao_quaternion.h>
#endif
#include <ao_quaternion.h>
#endif
@@
-233,7
+233,7
@@
ao_flight(void)
* deceleration, or by waiting until the maximum burn duration
* (15 seconds) has past.
*/
* deceleration, or by waiting until the maximum burn duration
* (15 seconds) has past.
*/
- if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)
&& ao_height > AO_M_TO_HEIGHT(100)
) ||
+ if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) ||
(int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
{
#if HAS_ACCEL
(int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
{
#if HAS_ACCEL
@@
-269,7
+269,7
@@
ao_flight(void)
* number of seconds.
*/
if (ao_config.apogee_lockout) {
* number of seconds.
*/
if (ao_config.apogee_lockout) {
- if ((ao_sample_tick - ao_boost_tick) <
+ if ((
int16_t) (
ao_sample_tick - ao_boost_tick) <
AO_SEC_TO_TICKS(ao_config.apogee_lockout))
break;
}
AO_SEC_TO_TICKS(ao_config.apogee_lockout))
break;
}
@@
-282,9
+282,11
@@
ao_flight(void)
* the measured altitude reasonably closely; otherwise
* we're probably transsonic.
*/
* the measured altitude reasonably closely; otherwise
* we're probably transsonic.
*/
+#define AO_ERROR_BOUND 100
+
if (ao_speed < 0
#if !HAS_ACCEL
if (ao_speed < 0
#if !HAS_ACCEL
- && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg <
100
)
+ && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg <
AO_ERROR_BOUND
)
#endif
)
{
#endif
)
{
@@
-308,7
+310,7
@@
ao_flight(void)
#if HAS_ACCEL
else {
check_re_boost:
#if HAS_ACCEL
else {
check_re_boost:
- ao_coast_avg_accel = ao_coast_avg_accel
- (ao_coast_avg_accel >> 6) + (ao_accel >> 6
);
+ ao_coast_avg_accel = ao_coast_avg_accel
+ ((ao_accel - ao_coast_avg_accel) >> 5
);
if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
ao_boost_tick = ao_sample_tick;
ao_flight_state = ao_flight_boost;
if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
ao_boost_tick = ao_sample_tick;
ao_flight_state = ao_flight_boost;