X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao_flight.c;h=51b2cd5eff138d8ff937f2fc3917ca4ca7aa0820;hp=d50d37e30aec9f39bf730c978339c88869defd00;hb=d6f5a0689023546464a71561f53fa2c943077c88;hpb=24fdda44ff8604e40510b196ead17564d8f8cd3d

diff --git a/ao_flight.c b/ao_flight.c
index d50d37e3..51b2cd5e 100644
--- a/ao_flight.c
+++ b/ao_flight.c
@@ -125,6 +125,8 @@ __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres;
  */
 __pdata int32_t	ao_flight_vel;
 __pdata int32_t ao_min_vel;
+__pdata int32_t	ao_old_vel;
+__pdata int16_t ao_old_vel_tick;
 __xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum;
 
 /* Landing is detected by getting constant readings from both pressure and accelerometer
@@ -156,6 +158,10 @@ ao_flight(void)
 			ao_raw_pres = ao_adc_ring[ao_flight_adc].pres;
 			ao_flight_tick = ao_adc_ring[ao_flight_adc].tick;
 
+			ao_flight_accel -= ao_flight_accel >> 4;
+			ao_flight_accel += ao_raw_accel >> 4;
+			ao_flight_pres -= ao_flight_pres >> 4;
+			ao_flight_pres += ao_raw_pres >> 4;
 			/* Update velocity
 			 *
 			 * The accelerometer is mounted so that
@@ -164,7 +170,7 @@ ao_flight(void)
 			 * so subtract instead of add.
 			 */
 			ticks = ao_flight_tick - ao_flight_prev_tick;
-			ao_vel_change = (((ao_raw_accel + ao_raw_accel_prev) >> 1) - ao_ground_accel);
+			ao_vel_change = (((ao_raw_accel >> 1) + (ao_raw_accel_prev >> 1)) - ao_ground_accel);
 			ao_raw_accel_prev = ao_raw_accel;
 
 			/* one is a common interval */
@@ -175,10 +181,6 @@ ao_flight(void)
 
 			ao_flight_adc = ao_adc_ring_next(ao_flight_adc);
 		}
-		ao_flight_accel -= ao_flight_accel >> 4;
-		ao_flight_accel += ao_raw_accel >> 4;
-		ao_flight_pres -= ao_flight_pres >> 4;
-		ao_flight_pres += ao_raw_pres >> 4;
 
 		if (ao_flight_pres < ao_min_pres)
 			ao_min_pres = ao_flight_pres;
@@ -211,6 +213,8 @@ ao_flight(void)
 			ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
 			ao_flight_vel = 0;
 			ao_min_vel = 0;
+			ao_old_vel = ao_flight_vel;
+			ao_old_vel_tick = ao_flight_tick;
 
 			/* Go to launchpad state if the nose is pointing up */
 			ao_config_get();
@@ -241,6 +245,16 @@ ao_flight(void)
 			break;
 		case ao_flight_launchpad:
 
+			/* Trim velocity
+			 *
+			 * Once a second, remove any velocity from
+			 * a second ago
+			 */
+			if ((int16_t) (ao_flight_tick - ao_old_vel_tick) >= AO_SEC_TO_TICKS(1)) {
+				ao_old_vel_tick = ao_flight_tick;
+				ao_flight_vel -= ao_old_vel;
+				ao_old_vel = ao_flight_vel;
+			}
 			/* pad to boost:
 			 *
 			 * accelerometer: > 2g AND velocity > 5m/s
@@ -334,7 +348,7 @@ ao_flight(void)
 			 * over in that case and the integrated velocity
 			 * measurement should suffice to find apogee
 			 */
-			if (abs(ao_flight_vel) > ao_min_vel + ACCEL_VEL_APOGEE ||
+			if (/* abs(ao_flight_vel) > ao_min_vel + ACCEL_VEL_APOGEE || */
 			    ao_flight_pres > ao_min_pres + BARO_APOGEE)
 			{
 				/* ignite the drogue charge */
@@ -377,13 +391,17 @@ ao_flight(void)
 
 			/* 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;
@@ -395,8 +413,8 @@ 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
 			 */
 
@@ -419,10 +437,9 @@ 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;