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 f1b60d6978713a73012fccc7541fa8d6d9b72edf..0a9cc046f2c946e74585c6bd307a5dbe148e96f3 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 uint8_t                        ao_flight_force_idle;
 
 /* We also have a clock, which can be used to sanity check things in
@@ -55,7 +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))
 
@@ -92,6 +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
@@ -109,8 +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);
@@ -122,6 +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);
                        }
@@ -234,16 +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_height;
-
                                /* and enter drogue state */
                                ao_flight_state = ao_flight_drogue;
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
@@ -267,26 +265,37 @@ 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_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) &&
-                                   ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
+                               if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
                                {
                                        ao_flight_state = ao_flight_landed;
 
@@ -295,7 +304,7 @@ ao_flight(void)
 
                                        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;