altos: Have tracker average 5 GPS samples before moving to pad mode

[fw/altos] / src / product / ao_tracker.c

diff --git a/src/product/ao_tracker.c b/src/product/ao_tracker.c
index a710d49d5ac611078f1f4bc996d43e3de30d1a66..80eade5c63d6173383254589247be992f9b147fe 100644 (file)
--- a/src/product/ao_tracker.c
+++ b/src/product/ao_tracker.c
@@ -22,8 +22,8 @@
 
 enum ao_flight_state   ao_flight_state;
 
-/* Speeds for the various modes */
-#define AO_TRACKER_NOT_MOVING  100
+/* Speeds for the various modes, 2m/s seems reasonable for 'not moving' */
+#define AO_TRACKER_NOT_MOVING  200
 
 static uint8_t ao_tracker_force_telem;
 
@@ -36,6 +36,8 @@ ao_usb_connected(void)
 #else
 #define ao_usb_connected()     1
 #endif
+ 
+#define STARTUP_AVERAGE        5
 
 static void
 ao_tracker(void)
@@ -48,6 +50,9 @@ ao_tracker(void)
        uint32_t        ground_distance;
        int16_t         height;
        uint16_t        speed;
+       int64_t         lat_sum = 0, lon_sum = 0;
+       int32_t         alt_sum = 0;
+       int             nsamples = 0;
 
        ao_timer_set_adc_interval(100);
 
@@ -69,10 +74,18 @@ ao_tracker(void)
                        switch (ao_flight_state) {
                        case ao_flight_startup:
                                /* startup to pad when GPS locks */
-                               ao_flight_state = ao_flight_pad;
-                               start_latitude = ao_gps_data.longitude;
-                               start_longitude = ao_gps_data.latitude;
-                               start_altitude = ao_gps_data.altitude;
+
+                               lat_sum += ao_gps_data.latitude;
+                               lon_sum += ao_gps_data.longitude;
+                               alt_sum += ao_gps_data.altitude;
+
+                               if (++nsamples >= STARTUP_AVERAGE) {
+                                       ao_flight_state = ao_flight_pad;
+                                       ao_wakeup(&ao_flight_state);
+                                       start_latitude = lat_sum / nsamples;
+                                       start_longitude = lon_sum / nsamples;
+                                       start_altitude = alt_sum / nsamples;
+                               }
                                break;
                        case ao_flight_pad:
                                ground_distance = ao_distance(ao_gps_data.latitude,