altos: TM: Don't turn on packet slave mode until idle/invalid state

[fw/altos] / src / ao_flight.c

diff --git a/src/ao_flight.c b/src/ao_flight.c
index a8760ff09a897aee05de58892f7d39ffcdfe565d..0a9cc046f2c946e74585c6bd307a5dbe148e96f3 100644 (file)
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -54,7 +54,7 @@ __pdata uint8_t                       ao_flight_force_idle;
 /* Landing is detected by getting constant readings from both pressure and accelerometer
  * for a fairly long time (AO_INTERVAL_TICKS)
  */
-#define AO_INTERVAL_TICKS      AO_SEC_TO_TICKS(5)
+#define AO_INTERVAL_TICKS      AO_SEC_TO_TICKS(10)
 
 #define abs(a) ((a) < 0 ? -(a) : (a))
 
@@ -91,6 +91,8 @@ ao_flight(void)
                                 */
                                ao_flight_state = ao_flight_invalid;
 
+                               /* Turn on packet system in invalid mode on TeleMetrum */
+                               ao_packet_slave_start();
                        } else
 #endif
                                if (!ao_flight_force_idle
@@ -108,8 +110,10 @@ ao_flight(void)
                                ao_usb_disable();
 #endif
 
-                               /* Disable packet mode in pad state */
+#if !HAS_ACCEL
+                               /* Disable packet mode in pad state on TeleMini */
                                ao_packet_slave_stop();
+#endif
 
                                /* Turn on telemetry system */
                                ao_rdf_set(1);
@@ -121,6 +125,11 @@ ao_flight(void)
                                /* Set idle mode */
                                ao_flight_state = ao_flight_idle;
  
+#if HAS_ACCEL
+                               /* Turn on packet system in idle mode on TeleMetrum */
+                               ao_packet_slave_start();
+#endif
+
                                /* signal successful initialization by turning off the LED */
                                ao_led_off(AO_LED_RED);
                        }
@@ -233,16 +242,6 @@ 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 +265,28 @@ 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 +295,7 @@ 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(4))
                                {
                                        ao_flight_state = ao_flight_landed;