X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao_flight.c;h=7fe85cb1522ac786579b824cd714c97dc088d9f3;hb=c437b14b7fc7afdfc7b809a04d7fa29d5e742307;hp=92c955fbfb4dfc53c4101cad6514cc96cf2b6b37;hpb=144db05f6b286a0450d486f69ce192632a2c0656;p=fw%2Faltos

diff --git a/src/ao_flight.c b/src/ao_flight.c
index 92c955fb..7fe85cb1 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -50,6 +50,8 @@ __data uint8_t ao_flight_adc;
 __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
@@ -75,16 +77,13 @@ __pdata int16_t ao_accel_2g;
 /* 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)
 
-int32_t accel_vel_mach;
-int32_t accel_vel_boost;
-
 /*
  * Barometer calibration
  *
@@ -132,7 +131,7 @@ __xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum;
 /* 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))
 
@@ -212,8 +211,6 @@ ao_flight(void)
 			ao_config_get();
 			ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
 			ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
-			accel_vel_mach = ACCEL_VEL_MACH;
-			accel_vel_boost = ACCEL_VEL_BOOST;
 			ao_flight_vel = 0;
 			ao_min_vel = 0;
 			ao_old_vel = ao_flight_vel;
@@ -221,8 +218,10 @@ ao_flight(void)
 
 			/* 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
@@ -285,6 +284,10 @@ ao_flight(void)
 				/* 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;
 			}
@@ -301,7 +304,7 @@ ao_flight(void)
 			 * 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;
@@ -432,20 +435,20 @@ ao_flight(void)
 				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:
@@ -454,37 +457,11 @@ ao_flight(void)
 	}
 }
 
-#define AO_ACCEL_COUNT_TO_MSS(count)	((count) / 27)
-#define AO_VEL_COUNT_TO_MS(count)	((int16_t) ((count) / 2700))
-
-static void
-ao_flight_status(void) __reentrant
-{
-	printf("STATE: %7s accel: %d speed: %d altitude: %d main: %d\n",
-	       ao_state_names[ao_flight_state],
-	       AO_ACCEL_COUNT_TO_MSS( - ao_flight_accel),
-	       AO_VEL_COUNT_TO_MS(ao_flight_vel),
-	       ao_pres_to_altitude(ao_flight_pres),
-	       ao_pres_to_altitude(ao_main_pres));
-}
-
 static __xdata struct ao_task	flight_task;
 
-__code struct ao_cmds ao_flight_cmds[] = {
-	{ 'f', ao_flight_status,	"f                                  Display current flight state" },
-	{ 0, ao_flight_status, NULL }
-};
-
 void
 ao_flight_init(void)
 {
 	ao_flight_state = ao_flight_startup;
-	ao_interval_min_accel = 0;
-	ao_interval_max_accel = 0x7fff;
-	ao_interval_min_pres = 0;
-	ao_interval_max_pres = 0x7fff;
-	ao_interval_end = AO_INTERVAL_TICKS;
-
 	ao_add_task(&flight_task, ao_flight, "flight");
-	ao_cmd_register(&ao_flight_cmds[0]);
 }