Loosen tolerances for main->landed transition

[fw/altos] / src / ao_flight.c

diff --git a/src/ao_flight.c b/src/ao_flight.c
index 92c955fbfb4dfc53c4101cad6514cc96cf2b6b37..f57573d0547b15baf2e804441837dc122db03ab3 100644 (file)
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -75,10 +75,10 @@ __pdata int16_t ao_accel_2g;
 /* convert m/s to velocity count */
 #define VEL_MPS_TO_COUNT(mps) (((int32_t) (((mps) / GRAVITY) * (AO_HERTZ/2))) * (int32_t) ao_accel_2g)
 
-#define ACCEL_G                265
-#define ACCEL_NOSE_UP  (ao_accel_2g / 4)
+#define ACCEL_NOSE_UP  (ao_accel_2g >> 2)
 #define ACCEL_BOOST    ao_accel_2g
-#define ACCEL_INT_LAND (ACCEL_G / 10)
+#define ACCEL_COAST    (ao_accel_2g >> 3)
+#define ACCEL_INT_LAND (ao_accel_2g >> 3)
 #define ACCEL_VEL_MACH VEL_MPS_TO_COUNT(200)
 #define ACCEL_VEL_BOOST        VEL_MPS_TO_COUNT(5)
 
@@ -132,7 +132,7 @@ __xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum;
 /* 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(20)
+#define AO_INTERVAL_TICKS      AO_SEC_TO_TICKS(5)
 
 #define abs(a) ((a) < 0 ? -(a) : (a))
 
@@ -301,7 +301,7 @@ ao_flight(void)
                         * deceleration, or by waiting until the maximum burn duration
                         * (15 seconds) has past.
                         */
-                       if (ao_flight_accel > ao_ground_accel + (ACCEL_G >> 2) ||
+                       if (ao_flight_accel > ao_ground_accel + ACCEL_COAST ||
                            (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
                        {
                                ao_flight_state = ao_flight_fast;
@@ -432,20 +432,20 @@ ao_flight(void)
                                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;
-                       }
 
-                       if ((uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND &&
-                           ao_flight_pres > ao_ground_pres - BARO_LAND &&
-                           (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND)
-                       {
-                               ao_flight_state = ao_flight_landed;
+                               if ((uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND &&
+                                   ao_flight_pres > ao_ground_pres - BARO_LAND &&
+                                   (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND)
+                               {
+                                       ao_flight_state = ao_flight_landed;
 
-                               /* turn off the ADC capture */
-                               ao_timer_set_adc_interval(0);
-                               /* Enable RDF beacon */
-                               ao_rdf_set(1);
+                                       /* turn off the ADC capture */
+                                       ao_timer_set_adc_interval(0);
+                                       /* Enable RDF beacon */
+                                       ao_rdf_set(1);
 
-                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+                                       ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+                               }
                        }
                        break;
                case ao_flight_landed:
@@ -454,27 +454,8 @@ ao_flight(void)
        }
 }
 
-#define AO_ACCEL_COUNT_TO_MSS(count)   ((count) / 27)
-#define AO_VEL_COUNT_TO_MS(count)      ((int16_t) ((count) / 2700))
-
-static void
-ao_flight_status(void) __reentrant
-{
-       printf("STATE: %7s accel: %d speed: %d altitude: %d main: %d\n",
-              ao_state_names[ao_flight_state],
-              AO_ACCEL_COUNT_TO_MSS( - ao_flight_accel),
-              AO_VEL_COUNT_TO_MS(ao_flight_vel),
-              ao_pres_to_altitude(ao_flight_pres),
-              ao_pres_to_altitude(ao_main_pres));
-}
-
 static __xdata struct ao_task  flight_task;
 
-__code struct ao_cmds ao_flight_cmds[] = {
-       { 'f', ao_flight_status,        "f                                  Display current flight state" },
-       { 0, ao_flight_status, NULL }
-};
-
 void
 ao_flight_init(void)
 {
@@ -486,5 +467,4 @@ ao_flight_init(void)
        ao_interval_end = AO_INTERVAL_TICKS;
 
        ao_add_task(&flight_task, ao_flight, "flight");
-       ao_cmd_register(&ao_flight_cmds[0]);
 }