X-Git-Url: https://git.gag.com/?a=blobdiff_plain;ds=sidebyside;f=src%2Fao_flight.c;h=9eb9a0145ac54614afd519f89a88cd143061694a;hb=2681a17500913cbaf3966f09380bb1d6b59e3863;hp=7fe85cb1522ac786579b824cd714c97dc088d9f3;hpb=c437b14b7fc7afdfc7b809a04d7fa29d5e742307;p=fw%2Faltos

diff --git a/src/ao_flight.c b/src/ao_flight.c
index 7fe85cb1..9eb9a014 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -146,7 +146,8 @@ ao_flight(void)
 	ao_raw_pres = 0;
 	ao_flight_tick = 0;
 	for (;;) {
-		ao_sleep(&ao_adc_ring);
+		ao_wakeup(DATA_TO_XDATA(&ao_flight_adc));
+		ao_sleep(DATA_TO_XDATA(&ao_adc_head));
 		while (ao_flight_adc != ao_adc_head) {
 			__pdata uint8_t ticks;
 			__pdata int16_t ao_vel_change;
@@ -196,17 +197,17 @@ ao_flight(void)
 
 			/* startup state:
 			 *
-			 * Collect 1000 samples of acceleration and pressure
+			 * Collect 512 samples of acceleration and pressure
 			 * data and average them to find the resting values
 			 */
-			if (nsamples < 1000) {
+			if (nsamples < 512) {
 				ao_raw_accel_sum += ao_raw_accel;
 				ao_raw_pres_sum += ao_raw_pres;
 				++nsamples;
 				continue;
 			}
-			ao_ground_accel = (ao_raw_accel_sum / nsamples);
-			ao_ground_pres = (ao_raw_pres_sum / nsamples);
+			ao_ground_accel = ao_raw_accel_sum >> 9;
+			ao_ground_pres = ao_raw_pres_sum >> 9;
 			ao_min_pres = ao_ground_pres;
 			ao_config_get();
 			ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
@@ -216,35 +217,56 @@ ao_flight(void)
 			ao_old_vel = ao_flight_vel;
 			ao_old_vel_tick = ao_flight_tick;
 
-			/* Go to pad state if the nose is pointing up */
+			/* Check to see what mode we should go to.
+			 *  - Invalid mode if accel cal appears to be out
+			 *  - pad mode if we're upright,
+			 *  - idle mode otherwise
+			 */
 			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 &&
-			    !ao_flight_force_idle)
+			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_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
 			{
+				/* Detected an accel value outside -1.5g to 1.5g
+				 * (or uncalibrated values), so we go into invalid mode
+				 */
+				ao_flight_state = ao_flight_invalid;
+				/* Allow packet mode in invalid flight state,
+				 * Still need to be able to fix the problem!
+				 */
+				ao_packet_slave_start();
+
+			} else if (ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP &&
+			           !ao_flight_force_idle)
+ 			{
+				/* Set pad mode - we can fly! */
+				ao_flight_state = ao_flight_pad;
+
 				/* Disable the USB controller in flight mode
 				 * to save power
 				 */
 				ao_usb_disable();
 
-				/* Turn on telemetry system
-				 */
+				/* Turn on telemetry system */
 				ao_rdf_set(1);
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 
-				ao_flight_state = ao_flight_pad;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				/* signal successful initialization by turning off the LED */
+				ao_led_off(AO_LED_RED);
 			} else {
-				ao_flight_state = ao_flight_idle;
-
-				/* Turn on packet system in idle mode
-				 */
+				/* Set idle mode */
+ 				ao_flight_state = ao_flight_idle;
+ 
+				/* Turn on packet system in idle mode */
 				ao_packet_slave_start();
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+
+				/* signal successful initialization by turning off the LED */
+				ao_led_off(AO_LED_RED);
 			}
-			/* signal successful initialization by turning off the LED */
-			ao_led_off(AO_LED_RED);
+			/* wakeup threads due to state change */
+			ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+
 			break;
 		case ao_flight_pad: