Abandon use of accelerometer for apogee detect.

[fw/altos] / ao_flight.c

diff --git a/ao_flight.c b/ao_flight.c
index d50d37e30aec9f39bf730c978339c88869defd00..48f7120260ef981b5c58c66fae449ab58334891d 100644 (file)
--- a/ao_flight.c
+++ b/ao_flight.c
@@ -156,6 +156,10 @@ ao_flight(void)
                        ao_raw_pres = ao_adc_ring[ao_flight_adc].pres;
                        ao_flight_tick = ao_adc_ring[ao_flight_adc].tick;
 
+                       ao_flight_accel -= ao_flight_accel >> 4;
+                       ao_flight_accel += ao_raw_accel >> 4;
+                       ao_flight_pres -= ao_flight_pres >> 4;
+                       ao_flight_pres += ao_raw_pres >> 4;
                        /* Update velocity
                         *
                         * The accelerometer is mounted so that
@@ -175,10 +179,6 @@ ao_flight(void)
 
                        ao_flight_adc = ao_adc_ring_next(ao_flight_adc);
                }
-               ao_flight_accel -= ao_flight_accel >> 4;
-               ao_flight_accel += ao_raw_accel >> 4;
-               ao_flight_pres -= ao_flight_pres >> 4;
-               ao_flight_pres += ao_raw_pres >> 4;
 
                if (ao_flight_pres < ao_min_pres)
                        ao_min_pres = ao_flight_pres;
@@ -334,7 +334,7 @@ ao_flight(void)
                         * over in that case and the integrated velocity
                         * measurement should suffice to find apogee
                         */
-                       if (abs(ao_flight_vel) > ao_min_vel + ACCEL_VEL_APOGEE ||
+                       if (/* abs(ao_flight_vel) > ao_min_vel + ACCEL_VEL_APOGEE || */
                            ao_flight_pres > ao_min_pres + BARO_APOGEE)
                        {
                                /* ignite the drogue charge */
@@ -377,13 +377,17 @@ ao_flight(void)
 
                        /* drogue to main deploy:
                         *
-                        * accelerometer: abs(velocity) > 100m/s (in case the drogue failed)
-                        *               OR
                         * barometer: reach main deploy altitude
+                        *
+                        * Would like to use the accelerometer for this test, but
+                        * the orientation of the flight computer is unknown after
+                        * drogue deploy, so we ignore it. Could also detect
+                        * high descent rate using the pressure sensor to
+                        * recognize drogue deploy failure and eject the main
+                        * at that point. Perhaps also use the drogue sense lines
+                        * to notice continutity?
                         */
-                       if (ao_flight_vel < -ACCEL_VEL_MAIN ||
-                           ao_flight_vel > ACCEL_VEL_MAIN ||
-                           ao_flight_pres >= ao_main_pres)
+                       if (ao_flight_pres >= ao_main_pres)
                        {
                                ao_ignite(ao_igniter_main);
                                ao_flight_state = ao_flight_main;
@@ -395,8 +399,8 @@ ao_flight(void)
 
                        /* drogue/main to land:
                         *
-                        * accelerometer: value stable and velocity less than 10m/s
-                        *                           OR
+                        * accelerometer: value stable
+                        *                           AND
                         * barometer: altitude stable and within 1000m of the launch altitude
                         */
 
@@ -419,10 +423,9 @@ ao_flight(void)
                                ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
                        }
 
-                       if ((abs(ao_flight_vel) < ACCEL_VEL_LAND &&
-                            (uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND) ||
-                           (ao_flight_pres > ao_ground_pres - BARO_LAND &&
-                            (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND))
+                       if ((uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND &&
+                           ao_flight_pres > ao_ground_pres - BARO_LAND &&
+                           (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND)
                        {
                                ao_flight_state = ao_flight_landed;