+
+ /* apogee to drogue deploy:
+ *
+ * accelerometer: integrated velocity < 10m/s
+ * OR
+ * barometer: fall at least 10m
+ *
+ * If the barometer saturates because the flight
+ * goes over its measuring range (about 53k'),
+ * requiring a 10m fall will avoid prematurely
+ * detecting apogee; the accelerometer will take
+ * over in that case and the integrated velocity
+ * measurement should suffice to find apogee
+ */
+ if (ao_flight_vel < VEL_MPS_TO_COUNT(-10) ||
+ ao_flight_pres - BARO_APOGEE > ao_min_pres)
+ {
+ ao_ignite(ao_igniter_drogue);
+ ao_flight_state = ao_flight_drogue;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ break;