X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao_flight.c;h=a8760ff09a897aee05de58892f7d39ffcdfe565d;hb=6c55bf35b11ae3ddae152795072d69e98184bac1;hp=94fbf1784bf4cdbdc9885b5ad6054ac983fcafc6;hpb=c754759a2d503633d527da4ebb20eb859cd506fd;p=fw%2Faltos

diff --git a/src/ao_flight.c b/src/ao_flight.c
index 94fbf178..a8760ff0 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
@@ -170,7 +169,6 @@ ao_flight(void)
 #endif
 
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-				break;
 			}
 			break;
 		case ao_flight_boost:
@@ -194,7 +192,6 @@ 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 +205,6 @@ ao_flight(void)
 			{
 				ao_flight_state = ao_flight_coast;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-				break;
 			}
 			break;
 #endif
@@ -234,6 +230,9 @@ ao_flight(void)
 				/* slow down the telemetry system */
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 
+				/* Turn the RDF beacon back on */
+				ao_rdf_set(1);
+
 				/*
 				 * Start recording min/max height
 				 * to figure out when the rocket has landed
@@ -242,7 +241,7 @@ ao_flight(void)
 				/* initialize interval values */
 				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 
-				ao_interval_min_height = ao_interval_max_height = ao_height;
+				ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 
 				/* and enter drogue state */
 				ao_flight_state = ao_flight_drogue;
@@ -279,25 +278,23 @@ ao_flight(void)
 			 * barometer: altitude stable and within 1000m of the launch altitude
 			 */
 
-			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))
+				    ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(2))
 				{
 					ao_flight_state = ao_flight_landed;
 
 					/* 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_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;