/* drogue to main deploy:
*
- * accelerometer: abs(velocity) > 100m/s (in case the drogue failed)
- * OR
* barometer: reach main deploy altitude
+ *
+ * Would like to use the accelerometer for this test, but
+ * the orientation of the flight computer is unknown after
+ * drogue deploy, so we ignore it. Could also detect
+ * high descent rate using the pressure sensor to
+ * recognize drogue deploy failure and eject the main
+ * at that point. Perhaps also use the drogue sense lines
+ * to notice continutity?
*/
- if (ao_flight_vel < -ACCEL_VEL_MAIN ||
- ao_flight_vel > ACCEL_VEL_MAIN ||
- ao_flight_pres >= ao_main_pres)
+ if (ao_flight_pres >= ao_main_pres)
{
ao_ignite(ao_igniter_main);
ao_flight_state = ao_flight_main;
/* drogue/main to land:
*
- * accelerometer: value stable and velocity less than 10m/s
- * OR
+ * accelerometer: value stable
+ * AND
* barometer: altitude stable and within 1000m of the launch altitude
*/
ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
}
- if ((abs(ao_flight_vel) < ACCEL_VEL_LAND &&
- (uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND) ||
- (ao_flight_pres > ao_ground_pres - BARO_LAND &&
- (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND))
+ if ((uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND &&
+ ao_flight_pres > ao_ground_pres - BARO_LAND &&
+ (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND)
{
ao_flight_state = ao_flight_landed;