altos: Require sequencing through 'main' state before landing

[fw/altos] / src / ao_flight.c

diff --git a/src/ao_flight.c b/src/ao_flight.c
index a8760ff09a897aee05de58892f7d39ffcdfe565d..af3d6bfa36c2292ecc07e366a6edb7574e4a8df3 100644 (file)
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -233,16 +233,6 @@ ao_flight(void)
                                /* Turn the RDF beacon back on */
                                ao_rdf_set(1);
 
-                               /*
-                                * Start recording min/max height
-                                * to figure out when the rocket has landed
-                                */
-
-                               /* initialize interval values */
-                               ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
-
-                               ao_interval_min_height = ao_interval_max_height = ao_avg_height;
-
                                /* and enter drogue state */
                                ao_flight_state = ao_flight_drogue;
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
@@ -266,16 +256,28 @@ ao_flight(void)
                        if (ao_height <= ao_config.main_deploy)
                        {
                                ao_ignite(ao_igniter_main);
+
+                               /*
+                                * Start recording min/max height
+                                * to figure out when the rocket has landed
+                                */
+
+                               /* initialize interval values */
+                               ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
+
+                               ao_interval_min_height = ao_interval_max_height = ao_avg_height;
+
                                ao_flight_state = ao_flight_main;
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
+                       break;
 
                        /* fall through... */
                case ao_flight_main:
 
-                       /* drogue/main to land:
+                       /* main to land:
                         *
-                        * barometer: altitude stable and within 1000m of the launch altitude
+                        * barometer: altitude stable
                         */
 
                        if (ao_avg_height < ao_interval_min_height)
@@ -284,8 +286,7 @@ ao_flight(void)
                                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) &&
-                                   ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(2))
+                               if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(2))
                                {
                                        ao_flight_state = ao_flight_landed;