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altos: Allow timer interrupt without needing tick count
[fw/altos]
/
src
/
kernel
/
ao_flight.c
diff --git
a/src/kernel/ao_flight.c
b/src/kernel/ao_flight.c
index 9031a54ae070e97e42a6d182e0d4b802e9897918..c2700d20bddb41801bacb0d560291a50aaad4bb0 100644
(file)
--- a/
src/kernel/ao_flight.c
+++ b/
src/kernel/ao_flight.c
@@
-3,7
+3,8
@@
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
@@
-20,7
+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
@@
-47,7
+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
@@
-198,7
+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();
@@
-232,7
+234,7
@@
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
@@
-268,7
+270,7
@@
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_launch
_tick) <
AO_SEC_TO_TICKS(ao_config.apogee_lockout))
break;
}
AO_SEC_TO_TICKS(ao_config.apogee_lockout))
break;
}
@@
-281,9
+283,11
@@
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
)
{
@@
-307,7
+311,7
@@
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;