altos: Average height values for landing detection

[fw/altos] / src / ao_flight.c

diff --git a/src/ao_flight.c b/src/ao_flight.c
index f1b60d6978713a73012fccc7541fa8d6d9b72edf..a8760ff09a897aee05de58892f7d39ffcdfe565d 100644 (file)
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -43,7 +43,6 @@ __pdata uint16_t              ao_launch_tick;         /* time of launch detect */
 __pdata uint16_t               ao_interval_end;
 __pdata int16_t                        ao_interval_min_height;
 __pdata int16_t                        ao_interval_max_height;
 __pdata uint16_t               ao_interval_end;
 __pdata int16_t                        ao_interval_min_height;
 __pdata int16_t                        ao_interval_max_height;

-

 __pdata uint8_t                        ao_flight_force_idle;
 
 /* We also have a clock, which can be used to sanity check things in
 __pdata uint8_t                        ao_flight_force_idle;
 
 /* We also have a clock, which can be used to sanity check things in


@@ -242,7 +241,7 @@ ao_flight(void)
                                /* initialize interval values */
                                ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 
                                /* initialize interval values */
                                ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 

-                               ao_interval_min_height = ao_interval_max_height = ao_height;
+                               ao_interval_min_height = ao_interval_max_height = ao_avg_height;

 
                                /* and enter drogue state */
                                ao_flight_state = ao_flight_drogue;
 
                                /* and enter drogue state */
                                ao_flight_state = ao_flight_drogue;


@@ -279,14 +278,14 @@ ao_flight(void)
                         * barometer: altitude stable and within 1000m of the launch altitude
                         */
 
                         * barometer: altitude stable and within 1000m of the launch altitude
                         */
 

-                       if (ao_height < ao_interval_min_height)
-                               ao_interval_min_height = ao_height;
-                       if (ao_height > ao_interval_max_height)
-                               ao_interval_max_height = ao_height;
+                       if (ao_avg_height < ao_interval_min_height)
+                               ao_interval_min_height = ao_avg_height;
+                       if (ao_avg_height > ao_interval_max_height)
+                               ao_interval_max_height = ao_avg_height;

 
                        if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
                                if (ao_height < AO_M_TO_HEIGHT(1000) &&
 
                        if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
                                if (ao_height < AO_M_TO_HEIGHT(1000) &&

-                                   ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
+                                   ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(2))

                                {
                                        ao_flight_state = ao_flight_landed;
 
                                {
                                        ao_flight_state = ao_flight_landed;
 


@@ -295,7 +294,7 @@ ao_flight(void)
 
                                        ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                                }
 
                                        ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                                }

-                               ao_interval_min_height = ao_interval_max_height = ao_height;
+                               ao_interval_min_height = ao_interval_max_height = ao_avg_height;

                                ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
                        }
                        break;
                                ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
                        }
                        break;