altos/micropeak: Increase boost detect to 30m

[fw/altos] / src / core / ao_microflight.c

diff --git a/src/core/ao_microflight.c b/src/core/ao_microflight.c
index 714bb90a946b6dd9cee6d4b99dc9a5765b8115e5..f680e4005c98a5cf9be432ed61509f79d1239863 100644 (file)
--- a/src/core/ao_microflight.c
+++ b/src/core/ao_microflight.c
@@ -33,7 +33,7 @@ ao_microsample(void)
        ao_microkalman_correct();
 }
 
-#define NUM_PA_HIST    16
+#define NUM_PA_HIST    (GROUND_AVG)
 
 #define SKIP_PA_HIST(i,j)      (((i) + (j)) & (NUM_PA_HIST - 1))
 
@@ -60,11 +60,11 @@ ao_microflight(void)
        h = 0;
        for (;;) {
                time += SAMPLE_SLEEP;
-               if (sample_count == 0)
+               if ((sample_count & 0x1f) == 0)
                        ao_led_on(AO_LED_REPORT);
                ao_delay_until(time);
                ao_microsample();
-               if (sample_count == 0)
+               if ((sample_count & 0x1f) == 0)
                        ao_led_off(AO_LED_REPORT);
                pa_hist[h] = pa;
                h = SKIP_PA_HIST(h,1);
@@ -85,10 +85,10 @@ ao_microflight(void)
                }
        }
 
-       /* Go back and find the first sample a decent interval above the ground */
+       /* Go back and find the last sample close to the ground */
        pa_min = pa_ground - LAND_DETECT;
-       for (i = SKIP_PA_HIST(h,2); i != h; i = SKIP_PA_HIST(i,2)) {
-               if (pa_hist[i] < pa_min)
+       for (i = SKIP_PA_HIST(h,-2); i != SKIP_PA_HIST(h,2); i = SKIP_PA_HIST(i,-2)) {
+               if (pa_hist[i] >= pa_min)
                        break;
        }