altos: Eliminate height requirement for coast detect

[fw/altos] / src / kernel / ao_flight.c

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 50f2b68f998f3df1c7960bfb64ffb6153e15de6f..7b3cb9fa6411055667c4fb82844c6582029a4c1b 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -21,7 +21,7 @@
 #include <ao_log.h>
 #endif
 
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
 #include <ao_quaternion.h>
 #endif
 
@@ -233,7 +233,7 @@ ao_flight(void)
                         * deceleration, or by waiting until the maximum burn duration
                         * (15 seconds) has past.
                         */
-                       if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
+                       if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) ||
                            (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
                        {
 #if HAS_ACCEL
@@ -269,7 +269,7 @@ ao_flight(void)
                         * number of seconds.
                         */
                        if (ao_config.apogee_lockout) {
-                               if ((ao_sample_tick - ao_boost_tick) <
+                               if ((int16_t) (ao_sample_tick - ao_boost_tick) <
                                    AO_SEC_TO_TICKS(ao_config.apogee_lockout))
                                        break;
                        }
@@ -282,9 +282,11 @@ ao_flight(void)
                         * the measured altitude reasonably closely; otherwise
                         * we're probably transsonic.
                         */
+#define AO_ERROR_BOUND 100
+
                        if (ao_speed < 0
 #if !HAS_ACCEL
-                           && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
+                           && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND)
 #endif
                                )
                        {
@@ -308,7 +310,7 @@ ao_flight(void)
 #if HAS_ACCEL
                        else {
                        check_re_boost:
-                               ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
+                               ao_coast_avg_accel = ao_coast_avg_accel + ((ao_accel - ao_coast_avg_accel) >> 5);
                                if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
                                        ao_boost_tick = ao_sample_tick;
                                        ao_flight_state = ao_flight_boost;