Add configuration support

[fw/altos] / ao_flight.c

diff --git a/ao_flight.c b/ao_flight.c
index 1f56dab694bea189ade842888f02e8452b239902..01bbcce901e1977c86c0215a8028dcfdd0b1279f 100644 (file)
--- a/ao_flight.c
+++ b/ao_flight.c
@@ -76,7 +76,7 @@ __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres;
 
 #define ACCEL_G                265
 #define ACCEL_ZERO_G   16000
-#define ACCEL_NOSE_UP  (ACCEL_ZERO_G - ACCEL_G * 2 /3)
+#define ACCEL_NOSE_UP  (ACCEL_G * 2 /3)
 #define ACCEL_BOOST    ACCEL_G * 2
 #define ACCEL_INT_LAND (ACCEL_G / 10)
 #define ACCEL_VEL_LAND VEL_MPS_TO_COUNT(10)
@@ -229,14 +229,16 @@ ao_flight(void)
                        ao_ground_accel = (ao_raw_accel_sum / nsamples);
                        ao_ground_pres = (ao_raw_pres_sum / nsamples);
                        ao_min_pres = ao_ground_pres;
-                       ao_main_pres = ao_ground_pres - BARO_MAIN;
+                       ao_config_get();
+                       ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
                        ao_flight_vel = 0;
                        ao_min_vel = 0;
 
                        ao_interval_end = ao_flight_tick;
 
                        /* Go to launchpad state if the nose is pointing up */
-                       if (ao_flight_accel < ACCEL_NOSE_UP) {
+                       ao_config_get();
+                       if (ao_flight_accel < ao_config.accel_zero_g - ACCEL_NOSE_UP) {
 
                                /* Disable the USB controller in flight mode
                                 * to save power
@@ -256,7 +258,6 @@ ao_flight(void)
                                /* Turn on the Green LED in idle mode
                                 */
                                ao_led_on(AO_LED_GREEN);
-                               ao_timer_set_adc_interval(100);
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        /* signal successful initialization by turning off the LED */
@@ -362,6 +363,9 @@ ao_flight(void)
                                /* slow down the telemetry system */
                                ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 
+                               /* slow down the ADC sample rate */
+                               ao_timer_set_adc_interval(10);
+
                                /* Enable RDF beacon */
                                ao_rdf_set(1);
 
@@ -422,11 +426,12 @@ ao_flight(void)
 static void
 ao_flight_status(void)
 {
-       printf("STATE: %7s accel: %d speed: %d altitude: %d\n",
+       printf("STATE: %7s accel: %d speed: %d altitude: %d main: %d\n",
               ao_state_names[ao_flight_state],
               AO_ACCEL_COUNT_TO_MSS(ACCEL_ZERO_G - ao_flight_accel),
               AO_VEL_COUNT_TO_MS(ao_flight_vel),
-              ao_pres_to_altitude(ao_flight_pres));
+              ao_pres_to_altitude(ao_flight_pres),
+              ao_pres_to_altitude(ao_main_pres));
 }
 
 static __xdata struct ao_task  flight_task;