#define abs(a) ((a) < 0 ? -(a) : (a))
+#if !HAS_BARO
+// #define DEBUG_ACCEL_ONLY 1
+#endif
+
void
ao_flight(void)
{
#if HAS_ACCEL
if (ao_config.accel_plus_g == 0 ||
ao_config.accel_minus_g == 0 ||
- ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
- ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP
+ ao_ground_accel < (accel_t) ao_config.accel_plus_g - ACCEL_NOSE_UP ||
+ ao_ground_accel > (accel_t) ao_config.accel_minus_g + ACCEL_NOSE_UP
#if HAS_BARO
|| ao_ground_height < -1000 ||
ao_ground_height > 7000
ao_wakeup(&ao_flight_state);
break;
+
+#if DEBUG_ACCEL_ONLY
+ case ao_flight_invalid:
+ case ao_flight_idle:
+ printf("+g %d ga %d sa %d accel %ld speed %ld\n",
+ ao_config.accel_plus_g, ao_ground_accel, ao_sample_accel, ao_accel, ao_speed);
+ break;
+#endif
+
case ao_flight_pad:
/* pad to boost:
*
*/
if (ao_height > AO_M_TO_HEIGHT(20)
#if HAS_ACCEL
- || (ao_accel > AO_MSS_TO_ACCEL(20) &&
- ao_speed > AO_MS_TO_SPEED(5))
+ || (ao_accel > AO_MSS_TO_ACCEL(20)
+ && ao_speed > AO_MS_TO_SPEED(5))
#endif
)
{
ao_flight_state = ao_flight_boost;
+ ao_wakeup(&ao_flight_state);
+
ao_launch_tick = ao_boost_tick = ao_sample_tick;
/* start logging data */
ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
ao_wakeup(&ao_gps_new);
#endif
-
- ao_wakeup(&ao_flight_state);
}
break;
case ao_flight_boost:
#else
ao_flight_state = ao_flight_coast;
#endif
- ++ao_motor_number;
ao_wakeup(&ao_flight_state);
+ ++ao_motor_number;
}
break;
#if HAS_ACCEL && HAS_BARO
#endif
)
{
-#if HAS_IGNITE
- /* ignite the drogue charge */
- ao_ignite(ao_igniter_drogue);
-#endif
-
+ /* enter drogue state */
+ ao_flight_state = ao_flight_drogue;
+ ao_wakeup(&ao_flight_state);
#if HAS_TELEMETRY
/* slow down the telemetry system */
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
/* Turn the RDF beacon back on */
ao_rdf_set(1);
#endif
-
- /* and enter drogue state */
- ao_flight_state = ao_flight_drogue;
- ao_wakeup(&ao_flight_state);
}
else
#else /* not HAS_BARO */
ao_interval_max_accel_through - ao_interval_min_accel_through <= ao_data_accel_to_sample(MAX_QUIET_ACCEL))
{
ao_flight_state = ao_flight_landed;
+ ao_wakeup(&ao_flight_state);
#if HAS_ADC
/* turn off the ADC capture */
ao_timer_set_adc_interval(0);
#endif
-
- ao_wakeup(&ao_flight_state);
}
/* Reset interval values */
*/
if (ao_height <= ao_config.main_deploy)
{
-#if HAS_IGNITE
- ao_ignite(ao_igniter_main);
-#endif
+ ao_flight_state = ao_flight_main;
+ ao_wakeup(&ao_flight_state);
/*
* Start recording min/max height
ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
ao_interval_min_height = ao_interval_max_height = ao_avg_height;
-
- ao_flight_state = ao_flight_main;
- ao_wakeup(&ao_flight_state);
}
break;
if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
{
ao_flight_state = ao_flight_landed;
-
+ ao_wakeup(&ao_flight_state);
#if HAS_ADC
/* turn off the ADC capture */
ao_timer_set_adc_interval(0);
#endif
-
- ao_wakeup(&ao_flight_state);
}
ao_interval_min_height = ao_interval_max_height = ao_avg_height;
ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;