*/
__pdata int32_t ao_flight_vel;
__pdata int32_t ao_min_vel;
+__pdata int32_t ao_old_vel;
+__pdata int16_t ao_old_vel_tick;
__xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum;
/* Landing is detected by getting constant readings from both pressure and accelerometer
* so subtract instead of add.
*/
ticks = ao_flight_tick - ao_flight_prev_tick;
- ao_vel_change = (((ao_raw_accel + ao_raw_accel_prev) >> 1) - ao_ground_accel);
+ ao_vel_change = (((ao_raw_accel >> 1) + (ao_raw_accel_prev >> 1)) - ao_ground_accel);
ao_raw_accel_prev = ao_raw_accel;
/* one is a common interval */
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_old_vel = ao_flight_vel;
+ ao_old_vel_tick = ao_flight_tick;
/* Go to launchpad state if the nose is pointing up */
ao_config_get();
/* Turn on telemetry system
*/
- ao_rdf_set(1);
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
ao_flight_state = ao_flight_launchpad;
break;
case ao_flight_launchpad:
+ /* Trim velocity
+ *
+ * Once a second, remove any velocity from
+ * a second ago
+ */
+ if ((int16_t) (ao_flight_tick - ao_old_vel_tick) >= AO_SEC_TO_TICKS(1)) {
+ ao_old_vel_tick = ao_flight_tick;
+ ao_flight_vel -= ao_old_vel;
+ ao_old_vel = ao_flight_vel;
+ }
/* pad to boost:
*
* accelerometer: > 2g AND velocity > 5m/s
/* Increase telemetry rate */
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
- /* disable RDF beacon */
- ao_rdf_set(0);
-
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
}
/* slow down the ADC sample rate */
ao_timer_set_adc_interval(10);
- /* Enable RDF beacon */
- ao_rdf_set(1);
-
/*
* Start recording min/max accel and pres for a while
* to figure out when the rocket has landed