altos: Make ao_flight_test show true height but report saturated height

[fw/altos] / src / ao_flight_test.c

diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c
index f41acbca282dc50fafa0bf8f515f81b8fce4b033..57785442553b09486317b2c5649f016cd0b4ecc4 100644 (file)
--- a/src/ao_flight_test.c
+++ b/src/ao_flight_test.c
@@ -41,6 +41,7 @@ struct ao_adc {
        uint16_t        tick;           /* tick when the sample was read */
        int16_t         accel;          /* accelerometer */
        int16_t         pres;           /* pressure sensor */
+       int16_t         pres_real;      /* unclipped */
        int16_t         temp;           /* temperature sensor */
        int16_t         v_batt;         /* battery voltage */
        int16_t         sense_d;        /* drogue continuity sense */
@@ -61,6 +62,8 @@ struct ao_adc {
  * Above this height, the baro sensor doesn't work
  */
 #define AO_MAX_BARO_HEIGHT     12000
+#define AO_BARO_SATURATE       13000
+#define AO_MIN_BARO_VALUE      ao_altitude_to_pres(AO_BARO_SATURATE)
 
 /*
  * Above this speed, baro measurements are unreliable
@@ -201,6 +204,8 @@ extern uint16_t     ao_sample_tick;
 extern int16_t ao_sample_height;
 extern int16_t ao_sample_accel;
 extern int32_t ao_accel_scale;
+extern int16_t ao_ground_height;
+extern int16_t ao_sample_alt;
 
 int ao_sample_prev_tick;
 uint16_t       prev_tick;
@@ -255,7 +260,7 @@ ao_insert(void)
        ao_adc_ring[ao_adc_head] = ao_adc_static;
        ao_adc_head = ao_adc_ring_next(ao_adc_head);
        if (ao_flight_state != ao_flight_startup) {
-               double  height = ao_pres_to_altitude(ao_sample_pres) - ao_ground_height;
+               double  height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
                double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
                        (ao_config.accel_minus_g - ao_config.accel_plus_g);
 
@@ -373,6 +378,9 @@ ao_sleep(void *wchan)
                        case 'A':
                                ao_adc_static.tick = tick;
                                ao_adc_static.accel = a;
+                               ao_adc_static.pres_real = b;
+                               if (b < AO_MIN_BARO_VALUE)
+                                       b = AO_MIN_BARO_VALUE;
                                ao_adc_static.pres = b;
                                ao_records_read++;
                                ao_insert();