X-Git-Url: https://git.gag.com/?a=blobdiff_plain;ds=sidebyside;f=src%2Fkernel%2Fao_flight.c;h=7b3cb9fa6411055667c4fb82844c6582029a4c1b;hb=cc83d57454ed07e4828b4413e5af6ae2ecfe2e5a;hp=251dbc02a7f35eaa7994c1541af5be3800205f84;hpb=4828be0ca5252ac9cd6061209385dcd6c4c57965;p=fw%2Faltos

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 251dbc02..7b3cb9fa 100644
--- 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
- * 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
@@ -20,7 +21,7 @@
 #include <ao_log.h>
 #endif
 
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
 #include <ao_quaternion.h>
 #endif
 
@@ -130,7 +131,7 @@ ao_flight(void)
  			{
 				/* Set pad mode - we can fly! */
 				ao_flight_state = ao_flight_pad;
-#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
+#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE && !DEBUG
 				/* Disable the USB controller in flight mode
 				 * to save power
 				 */
@@ -232,7 +233,7 @@ ao_flight(void)
 			 * 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
@@ -268,7 +269,7 @@ ao_flight(void)
 			 * number of seconds.
 			 */
 			if (ao_config.apogee_lockout) {
-				if ((ao_sample_tick - ao_boost_tick) <
+				if ((int16_t) (ao_sample_tick - ao_boost_tick) <
 				    AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 					break;
 			}
@@ -281,9 +282,11 @@ ao_flight(void)
 			 * the measured altitude reasonably closely; otherwise
 			 * we're probably transsonic.
 			 */
+#define AO_ERROR_BOUND	100
+
 			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
 				)
 			{
@@ -307,7 +310,7 @@ ao_flight(void)
 #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;
@@ -370,8 +373,10 @@ ao_flight(void)
 				{
 					ao_flight_state = ao_flight_landed;
 
+#if HAS_ADC
 					/* turn off the ADC capture */
 					ao_timer_set_adc_interval(0);
+#endif
 
 					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 				}