X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao_flight.c;h=0b47bfa51a8a50adcaef8a9d1c1cdc3319872437;hp=91953975203c830fa76814e1cd02fb35fc33a68b;hb=8168820b667cc1deffab64dd81cb4e6e2e6eabe4;hpb=b623b1098bc7a10d471730259438fb82804221d0

diff --git a/ao_flight.c b/ao_flight.c
index 91953975..0b47bfa5 100644
--- a/ao_flight.c
+++ b/ao_flight.c
@@ -83,6 +83,7 @@ __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres;
 #define ACCEL_VEL_MACH	VEL_MPS_TO_COUNT(200)
 #define ACCEL_VEL_APOGEE	VEL_MPS_TO_COUNT(2)
 #define ACCEL_VEL_MAIN	VEL_MPS_TO_COUNT(100)
+#define ACCEL_VEL_BOOST	VEL_MPS_TO_COUNT(5)
 
 /*
  * Barometer calibration
@@ -242,7 +243,7 @@ ao_flight(void)
 
 			/* pad to boost:
 			 *
-			 * accelerometer: > 2g
+			 * accelerometer: > 2g AND velocity > 5m/s
 			 *             OR
 			 * barometer: > 20m vertical motion
 			 *
@@ -250,7 +251,8 @@ ao_flight(void)
 			 * the barometer, but we use both to make sure this
 			 * transition is detected
 			 */
-			if (ao_flight_accel < ao_ground_accel - ACCEL_BOOST ||
+			if ((ao_flight_accel < ao_ground_accel - ACCEL_BOOST &&
+			     ao_flight_vel > ACCEL_VEL_BOOST) ||
 			    ao_flight_pres < ao_ground_pres - BARO_LAUNCH)
 			{
 				ao_flight_state = ao_flight_boost;
@@ -347,39 +349,45 @@ ao_flight(void)
 				/* Enable RDF beacon */
 				ao_rdf_set(1);
 
+				/*
+				 * Start recording min/max accel and pres for a while
+				 * to figure out when the rocket has landed
+				 */
+				/* Set the 'last' limits to max range to prevent
+				 * early resting detection
+				 */
+				ao_interval_min_accel = 0;
+				ao_interval_max_accel = 0x7fff;
+				ao_interval_min_pres = 0;
+				ao_interval_max_pres = 0x7fff;
+
+				/* initialize interval values */
+				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;
+
+				/* and enter drogue state */
 				ao_flight_state = ao_flight_drogue;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			}
-			/*
-			 * Start recording min/max accel and pres for a while
-			 * to figure out when the rocket has landed
-			 */
-			/* Set the 'last' limits to max range to prevent
-			 * early resting detection
-			 */
-			ao_interval_min_accel = 0;
-			ao_interval_max_accel = 0x7fff;
-			ao_interval_min_pres = 0;
-			ao_interval_max_pres = 0x7fff;
-
-			/* initialize interval values */
-			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;
 
 			break;
 		case ao_flight_drogue:
 
 			/* drogue to main deploy:
 			 *
-			 * accelerometer: abs(velocity) > 100m/s (in case the drogue failed)
-			 *               OR
 			 * barometer: reach main deploy altitude
+			 *
+			 * Would like to use the accelerometer for this test, but
+			 * the orientation of the flight computer is unknown after
+			 * drogue deploy, so we ignore it. Could also detect
+			 * high descent rate using the pressure sensor to
+			 * recognize drogue deploy failure and eject the main
+			 * at that point. Perhaps also use the drogue sense lines
+			 * to notice continutity?
 			 */
-			if (ao_flight_vel < -ACCEL_VEL_MAIN ||
-			    ao_flight_vel > ACCEL_VEL_MAIN ||
-			    ao_flight_pres >= ao_main_pres)
+			if (ao_flight_pres >= ao_main_pres)
 			{
 				ao_ignite(ao_igniter_main);
 				ao_flight_state = ao_flight_main;
@@ -391,8 +399,8 @@ ao_flight(void)
 
 			/* drogue/main to land:
 			 *
-			 * accelerometer: value stable and velocity less than 10m/s
-			 *                           OR
+			 * accelerometer: value stable
+			 *                           AND
 			 * barometer: altitude stable and within 1000m of the launch altitude
 			 */
 
@@ -415,10 +423,9 @@ ao_flight(void)
 				ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
 			}
 
-			if ((abs(ao_flight_vel) < ACCEL_VEL_LAND &&
-			     (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))
+			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;