X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_flight.c;h=c2700d20bddb41801bacb0d560291a50aaad4bb0;hb=2f61ef9a5046c39f4eeaaf741031bb6a9607b8a6;hp=f06125cd1329f361f7e91e92afcaadc2be420b38;hpb=ea6fe21d78744d7e6225a56c369d54f7cd956767;p=fw%2Faltos

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index f06125cd..c2700d20 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -21,7 +21,7 @@
 #include <ao_log.h>
 #endif
 
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
 #include <ao_quaternion.h>
 #endif
 
@@ -48,7 +48,8 @@
 /* Main flight thread. */
 
 __pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
-__pdata uint16_t		ao_boost_tick;		/* time of launch detect */
+__pdata uint16_t		ao_boost_tick;		/* time of most recent boost detect */
+__pdata uint16_t		ao_launch_tick;		/* time of first boost detect */
 __pdata uint16_t		ao_motor_number;	/* number of motors burned so far */
 
 #if HAS_SENSOR_ERRORS
@@ -199,7 +200,7 @@ ao_flight(void)
 				)
 			{
 				ao_flight_state = ao_flight_boost;
-				ao_boost_tick = ao_sample_tick;
+				ao_launch_tick = ao_boost_tick = ao_sample_tick;
 
 				/* start logging data */
 				ao_log_start();
@@ -233,7 +234,7 @@ 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
@@ -269,7 +270,7 @@ ao_flight(void)
 			 * number of seconds.
 			 */
 			if (ao_config.apogee_lockout) {
-				if ((int16_t) (ao_sample_tick - ao_boost_tick) <
+				if ((int16_t) (ao_sample_tick - ao_launch_tick) <
 				    AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 					break;
 			}
@@ -310,7 +311,7 @@ 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;