__pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres;
__pdata int16_t ao_accel_2g;
+__xdata uint8_t ao_flight_force_idle;
+
/* Accelerometer calibration
*
* We're sampling the accelerometer through a resistor divider which
/* convert m/s to velocity count */
#define VEL_MPS_TO_COUNT(mps) (((int32_t) (((mps) / GRAVITY) * (AO_HERTZ/2))) * (int32_t) ao_accel_2g)
-#define ACCEL_G 265
-#define ACCEL_NOSE_UP (ao_accel_2g / 4)
+#define ACCEL_NOSE_UP (ao_accel_2g >> 2)
#define ACCEL_BOOST ao_accel_2g
-#define ACCEL_INT_LAND (ACCEL_G / 10)
+#define ACCEL_COAST (ao_accel_2g >> 3)
+#define ACCEL_INT_LAND (ao_accel_2g >> 3)
#define ACCEL_VEL_MACH VEL_MPS_TO_COUNT(200)
#define ACCEL_VEL_BOOST VEL_MPS_TO_COUNT(5)
/* Landing is detected by getting constant readings from both pressure and accelerometer
* for a fairly long time (AO_INTERVAL_TICKS)
*/
-#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(20)
+#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
#define abs(a) ((a) < 0 ? -(a) : (a))
/* Go to pad state if the nose is pointing up */
ao_config_get();
- if (ao_config.accel_plus_g != 0 && ao_config.accel_minus_g != 0 &&
- ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP)
+ if (ao_config.accel_plus_g != 0 &&
+ ao_config.accel_minus_g != 0 &&
+ ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP &&
+ !ao_flight_force_idle)
{
/* Disable the USB controller in flight mode
* to save power
/* disable RDF beacon */
ao_rdf_set(0);
+ /* Record current GPS position by waking up GPS log tasks */
+ ao_wakeup(&ao_gps_data);
+ ao_wakeup(&ao_gps_tracking_data);
+
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
}
* deceleration, or by waiting until the maximum burn duration
* (15 seconds) has past.
*/
- if (ao_flight_accel > ao_ground_accel + (ACCEL_G >> 2) ||
+ if (ao_flight_accel > ao_ground_accel + ACCEL_COAST ||
(int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
{
ao_flight_state = ao_flight_fast;
ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
- }
- 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;
+ 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;
- /* turn off the ADC capture */
- ao_timer_set_adc_interval(0);
- /* Enable RDF beacon */
- ao_rdf_set(1);
+ /* turn off the ADC capture */
+ ao_timer_set_adc_interval(0);
+ /* Enable RDF beacon */
+ ao_rdf_set(1);
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
}
break;
case ao_flight_landed: