X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fmicropeak%2Fao_micropeak.c;h=bf65697994e71705a9cb3d6d5608ab7e8ea659d7;hb=e8a4a00a5bb333d4ee9601d53242a82dfe0372c2;hp=6ceec3b5164aa97e559a83fe0bfac31675435007;hpb=b9bf8e01e243508297f28b102cb2477dc1bc74df;p=fw%2Faltos

diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
index 6ceec3b5..bf656979 100644
--- a/src/micropeak/ao_micropeak.c
+++ b/src/micropeak/ao_micropeak.c
@@ -47,6 +47,15 @@ ao_pa_get(void)
 #define GROUND_AVG_SHIFT	4
 #define GROUND_AVG		(1 << GROUND_AVG_SHIFT)
 
+/* Pressure change (in Pa) to detect boost */
+#define BOOST_DETECT		120	/* 10m at sea level, 12m at 2000m */
+
+/* Wait after power on before doing anything to give the user time to assemble the rocket */
+#define BOOST_DELAY		AO_SEC_TO_TICKS(30)
+
+/* Pressure change (in Pa) to detect landing */
+#define LAND_DETECT		12	/* 1m at sea level, 1.2m at 2000m */
+
 static void
 ao_compute_height(void)
 {
@@ -115,6 +124,7 @@ main(void)
 		ao_log_micro_dump();
 #endif	
 
+	ao_delay(BOOST_DELAY);
 	/* Wait for motion, averaging values to get ground pressure */
 	time = ao_time();
 	ao_pa_get();
@@ -122,23 +132,20 @@ main(void)
 	sample_count = 0;
 	for (;;) {
 		time += SAMPLE_SLEEP;
-		ao_delay_until(time);
 		if (sample_count == 0)
 			ao_led_on(AO_LED_BLUE);
+		ao_delay_until(time);
 		ao_pa_get();
 		if (sample_count == 0)
 			ao_led_off(AO_LED_BLUE);
 		pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
 		pa_diff = pa_ground - pa_avg;
-		if (pa_diff < 0)
-			pa_diff = -pa_diff;
 
-		/* about 2 meters at sea level, more if you're higher */
-		if (pa_diff > (24 << FILTER_SHIFT))
+		/* Check for a significant pressure change */
+		if (pa_diff > (BOOST_DETECT << FILTER_SHIFT))
 			break;
 
 		if (sample_count < GROUND_AVG * 2) {
-			ao_led_off(AO_LED_BLUE);
 			if (sample_count < GROUND_AVG)
 				pa_sum += pa;
 			++sample_count;
@@ -178,8 +185,9 @@ main(void)
 
 		if (sample_count == (GROUND_AVG - 1)) {
 			pa_diff = pa_interval_max - pa_interval_min;
-			/* About 1m at sea level */
-			if (pa_diff < (12 << FILTER_SHIFT))
+
+			/* Check to see if the pressure is now stable */
+			if (pa_diff < (LAND_DETECT << FILTER_SHIFT))
 				break;
 			sample_count = 0;
 			pa_interval_min = pa_avg;