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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_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)
#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_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 */
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
/* 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);
/* 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 */
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 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);
/* Enable RDF beacon */
ao_rdf_set(1);
@@
-422,11
+426,12
@@
ao_flight(void)
static void
ao_flight_status(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_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;
}
static __xdata struct ao_task flight_task;