X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao_flight.c;h=3bc6b974008e625812214112838b8a5eb0669fe5;hp=43fd98b2ba3da26c607682e00a063f88c6394bf4;hb=ba3c53636e485450f48093d0a88a6629775f7c3a;hpb=97cecb517cd7bf75e1219c76a93bfe6964c07052

diff --git a/ao_flight.c b/ao_flight.c
index 43fd98b2..3bc6b974 100644
--- a/ao_flight.c
+++ b/ao_flight.c
@@ -223,7 +223,7 @@ ao_flight(void)
 				/* Turn on telemetry system
 				 */
 				ao_rdf_set(1);
-				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
+				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 
 				ao_flight_state = ao_flight_launchpad;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
@@ -259,6 +259,9 @@ ao_flight(void)
 				/* start logging data */
 				ao_log_start();
 
+				/* Increase telemetry rate */
+				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
+
 				/* disable RDF beacon */
 				ao_rdf_set(0);
 
@@ -309,7 +312,7 @@ ao_flight(void)
 				/* set min velocity to current velocity for
 				 * apogee detect
 				 */
-				ao_min_vel = ao_flight_vel;
+				ao_min_vel = abs(ao_flight_vel);
 				ao_flight_state = ao_flight_apogee;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			}
@@ -344,26 +347,28 @@ 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: