Add velocity check for boost detect via accelerometer

[fw/altos] / ao_flight.c

diff --git a/ao_flight.c b/ao_flight.c
index f4b5279b64cf1edecc57d88986c5ebb2df89807a..d50d37e30aec9f39bf730c978339c88869defd00 100644 (file)
--- a/ao_flight.c
+++ b/ao_flight.c
@@ -83,6 +83,7 @@ __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres;
 #define ACCEL_VEL_MACH VEL_MPS_TO_COUNT(200)
 #define ACCEL_VEL_APOGEE       VEL_MPS_TO_COUNT(2)
 #define ACCEL_VEL_MAIN VEL_MPS_TO_COUNT(100)
+#define ACCEL_VEL_BOOST        VEL_MPS_TO_COUNT(5)
 
 /*
  * Barometer calibration
@@ -242,7 +243,7 @@ ao_flight(void)
 
                        /* pad to boost:
                         *
-                        * accelerometer: > 2g
+                        * accelerometer: > 2g AND velocity > 5m/s
                         *             OR
                         * barometer: > 20m vertical motion
                         *
@@ -250,7 +251,8 @@ ao_flight(void)
                         * the barometer, but we use both to make sure this
                         * transition is detected
                         */
-                       if (ao_flight_accel < ao_ground_accel - ACCEL_BOOST ||
+                       if ((ao_flight_accel < ao_ground_accel - ACCEL_BOOST &&
+                            ao_flight_vel > ACCEL_VEL_BOOST) ||
                            ao_flight_pres < ao_ground_pres - BARO_LAUNCH)
                        {
                                ao_flight_state = ao_flight_boost;
@@ -312,7 +314,7 @@ ao_flight(void)
                                /* set min velocity to current velocity for
                                 * apogee detect
                                 */
-                               ao_min_vel = ao_flight_vel;
+                               ao_min_vel = abs(ao_flight_vel);
                                ao_flight_state = ao_flight_apogee;
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
@@ -347,26 +349,28 @@ ao_flight(void)
                                /* 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
+                                */
+                               /* Set the 'last' limits to max range to prevent
+                                * early resting detection
+                                */
+                               ao_interval_min_accel = 0;
+                               ao_interval_max_accel = 0x7fff;
+                               ao_interval_min_pres = 0;
+                               ao_interval_max_pres = 0x7fff;
+
+                               /* initialize interval values */
+                               ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
+
+                               ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
+                               ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
+
+                               /* and enter drogue state */
                                ao_flight_state = ao_flight_drogue;
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
-                       /*
-                        * Start recording min/max accel and pres for a while
-                        * to figure out when the rocket has landed
-                        */
-                       /* Set the 'last' limits to max range to prevent
-                        * early resting detection
-                        */
-                       ao_interval_min_accel = 0;
-                       ao_interval_max_accel = 0x7fff;
-                       ao_interval_min_pres = 0;
-                       ao_interval_max_pres = 0x7fff;
-
-                       /* initialize interval values */
-                       ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
-
-                       ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
-                       ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
 
                        break;
                case ao_flight_drogue: