X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao_flight.c;h=0a9cc046f2c946e74585c6bd307a5dbe148e96f3;hb=refs%2Ftags%2Fdebian%2F1.0.3;hp=c6cbbf7cbaeb3e26f64bf6069e427fe864f4a561;hpb=011e37f27b3926a42c8c1a74e0f179bb48829ec7;p=fw%2Faltos

diff --git a/src/ao_flight.c b/src/ao_flight.c
index c6cbbf7c..0a9cc046 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -43,8 +43,7 @@ __pdata uint16_t		ao_launch_tick;		/* time of launch detect */
 __pdata uint16_t		ao_interval_end;
 __pdata int16_t			ao_interval_min_height;
 __pdata int16_t			ao_interval_max_height;
-
-__xdata uint8_t			ao_flight_force_idle;
+__pdata uint8_t			ao_flight_force_idle;
 
 /* We also have a clock, which can be used to sanity check things in
  * case of other failures
@@ -55,7 +54,7 @@ __xdata uint8_t			ao_flight_force_idle;
 /* 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(5)
+#define AO_INTERVAL_TICKS	AO_SEC_TO_TICKS(10)
 
 #define abs(a)	((a) < 0 ? -(a) : (a))
 
@@ -92,6 +91,8 @@ ao_flight(void)
 				 */
 				ao_flight_state = ao_flight_invalid;
 
+				/* Turn on packet system in invalid mode on TeleMetrum */
+				ao_packet_slave_start();
 			} else
 #endif
 				if (!ao_flight_force_idle
@@ -109,8 +110,10 @@ ao_flight(void)
 				ao_usb_disable();
 #endif
 
-				/* Disable packet mode in pad state */
+#if !HAS_ACCEL
+				/* Disable packet mode in pad state on TeleMini */
 				ao_packet_slave_stop();
+#endif
 
 				/* Turn on telemetry system */
 				ao_rdf_set(1);
@@ -122,6 +125,11 @@ ao_flight(void)
 				/* Set idle mode */
  				ao_flight_state = ao_flight_idle;
  
+#if HAS_ACCEL
+				/* Turn on packet system in idle mode on TeleMetrum */
+				ao_packet_slave_start();
+#endif
+
 				/* signal successful initialization by turning off the LED */
 				ao_led_off(AO_LED_RED);
 			}
@@ -170,7 +178,6 @@ ao_flight(void)
 #endif
 
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-				break;
 			}
 			break;
 		case ao_flight_boost:
@@ -194,7 +201,6 @@ ao_flight(void)
 				ao_flight_state = ao_flight_coast;
 #endif
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-				break;
 			}
 			break;
 #if HAS_ACCEL
@@ -208,7 +214,6 @@ ao_flight(void)
 			{
 				ao_flight_state = ao_flight_coast;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-				break;
 			}
 			break;
 #endif
@@ -237,16 +242,6 @@ ao_flight(void)
 				/* Turn the RDF beacon back on */
 				ao_rdf_set(1);
 
-				/*
-				 * Start recording min/max height
-				 * to figure out when the rocket has landed
-				 */
-
-				/* initialize interval values */
-				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
-
-				ao_interval_min_height = ao_interval_max_height = ao_height;
-
 				/* and enter drogue state */
 				ao_flight_state = ao_flight_drogue;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
@@ -270,26 +265,37 @@ ao_flight(void)
 			if (ao_height <= ao_config.main_deploy)
 			{
 				ao_ignite(ao_igniter_main);
+
+				/*
+				 * Start recording min/max height
+				 * to figure out when the rocket has landed
+				 */
+
+				/* initialize interval values */
+				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(DATA_TO_XDATA(&ao_flight_state));
 			}
+			break;
 
 			/* fall through... */
 		case ao_flight_main:
 
-			/* drogue/main to land:
+			/* main to land:
 			 *
-			 * barometer: altitude stable and within 1000m of the launch altitude
+			 * barometer: altitude stable
 			 */
 
-			if (ao_height < ao_interval_min_height)
-				ao_interval_min_height = ao_height;
-			if (ao_height > ao_interval_max_height)
-				ao_interval_max_height = ao_height;
+			if (ao_avg_height < ao_interval_min_height)
+				ao_interval_min_height = ao_avg_height;
+			if (ao_avg_height > ao_interval_max_height)
+				ao_interval_max_height = ao_avg_height;
 
 			if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
-				if (ao_height < AO_M_TO_HEIGHT(1000) &&
-				    ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
+				if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
 				{
 					ao_flight_state = ao_flight_landed;
 
@@ -298,7 +304,7 @@ ao_flight(void)
 
 					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 				}
-				ao_interval_min_height = ao_interval_max_height = ao_height;
+				ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 			}
 			break;