X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_flight.c;h=5a9a8d801037c4d278abbc39d754e34053086ce3;hp=f50491d921b06cda84c709b9684a380774e68174;hb=58838c0b96a91da0bd0cd77c3ff312b589c08136;hpb=79718e798e96567f0ba11c61f187e432fdcf95ee

diff --git a/src/ao_flight.c b/src/ao_flight.c
index f50491d9..5a9a8d80 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -50,6 +50,8 @@ __data uint8_t ao_flight_adc;
 __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres;
 __pdata int16_t ao_accel_2g;
 
+__xdata uint8_t ao_flight_force_idle;
+
 /* Accelerometer calibration
  *
  * We're sampling the accelerometer through a resistor divider which
@@ -75,16 +77,13 @@ __pdata int16_t ao_accel_2g;
 /* convert m/s to velocity count */
 #define VEL_MPS_TO_COUNT(mps) (((int32_t) (((mps) / GRAVITY) * (AO_HERTZ/2))) * (int32_t) ao_accel_2g)
 
-#define ACCEL_G		265
-#define ACCEL_NOSE_UP	(ao_accel_2g / 4)
+#define ACCEL_NOSE_UP	(ao_accel_2g >> 2)
 #define ACCEL_BOOST	ao_accel_2g
-#define ACCEL_INT_LAND	(ACCEL_G / 10)
+#define ACCEL_COAST	(ao_accel_2g >> 3)
+#define ACCEL_INT_LAND	(ao_accel_2g >> 3)
 #define ACCEL_VEL_MACH	VEL_MPS_TO_COUNT(200)
 #define ACCEL_VEL_BOOST	VEL_MPS_TO_COUNT(5)
 
-int32_t accel_vel_mach;
-int32_t accel_vel_boost;
-
 /*
  * Barometer calibration
  *
@@ -132,7 +131,7 @@ __xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum;
 /* Landing is detected by getting constant readings from both pressure and accelerometer
  * for a fairly long time (AO_INTERVAL_TICKS)
  */
-#define AO_INTERVAL_TICKS	AO_SEC_TO_TICKS(20)
+#define AO_INTERVAL_TICKS	AO_SEC_TO_TICKS(5)
 
 #define abs(a)	((a) < 0 ? -(a) : (a))
 
@@ -197,23 +196,21 @@ ao_flight(void)
 
 			/* startup state:
 			 *
-			 * Collect 1000 samples of acceleration and pressure
+			 * Collect 512 samples of acceleration and pressure
 			 * data and average them to find the resting values
 			 */
-			if (nsamples < 1000) {
+			if (nsamples < 512) {
 				ao_raw_accel_sum += ao_raw_accel;
 				ao_raw_pres_sum += ao_raw_pres;
 				++nsamples;
 				continue;
 			}
-			ao_ground_accel = (ao_raw_accel_sum / nsamples);
-			ao_ground_pres = (ao_raw_pres_sum / nsamples);
+			ao_ground_accel = ao_raw_accel_sum >> 9;
+			ao_ground_pres = ao_raw_pres_sum >> 9;
 			ao_min_pres = ao_ground_pres;
 			ao_config_get();
 			ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
 			ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
-			accel_vel_mach = ACCEL_VEL_MACH;
-			accel_vel_boost = ACCEL_VEL_BOOST;
 			ao_flight_vel = 0;
 			ao_min_vel = 0;
 			ao_old_vel = ao_flight_vel;
@@ -221,8 +218,11 @@ ao_flight(void)
 
 			/* Go to pad state if the nose is pointing up */
 			ao_config_get();
-			if (ao_config.accel_plus_g != 0 && ao_config.accel_minus_g != 0 &&
-			    ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP)
+			if (ao_config.accel_plus_g != 0 &&
+			    ao_config.accel_minus_g != 0 &&
+			    ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP &&
+			    ao_flight_accel > ao_config.accel_plus_g - ACCEL_NOSE_UP &&
+			    !ao_flight_force_idle)
 			{
 				/* Disable the USB controller in flight mode
 				 * to save power
@@ -285,6 +285,10 @@ ao_flight(void)
 				/* disable RDF beacon */
 				ao_rdf_set(0);
 
+				/* Record current GPS position by waking up GPS log tasks */
+				ao_wakeup(&ao_gps_data);
+				ao_wakeup(&ao_gps_tracking_data);
+
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 				break;
 			}
@@ -301,7 +305,7 @@ ao_flight(void)
 			 * deceleration, or by waiting until the maximum burn duration
 			 * (15 seconds) has past.
 			 */
-			if (ao_flight_accel > ao_ground_accel + (ACCEL_G >> 2) ||
+			if (ao_flight_accel > ao_ground_accel + ACCEL_COAST ||
 			    (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
 			{
 				ao_flight_state = ao_flight_fast;
@@ -432,20 +436,20 @@ ao_flight(void)
 				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;
-			}
 
-			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;
+				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;
 
-				/* turn off the ADC capture */
-				ao_timer_set_adc_interval(0);
-				/* Enable RDF beacon */
-				ao_rdf_set(1);
+					/* turn off the ADC capture */
+					ao_timer_set_adc_interval(0);
+					/* Enable RDF beacon */
+					ao_rdf_set(1);
 
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				}
 			}
 			break;
 		case ao_flight_landed:
@@ -460,11 +464,5 @@ void
 ao_flight_init(void)
 {
 	ao_flight_state = ao_flight_startup;
-	ao_interval_min_accel = 0;
-	ao_interval_max_accel = 0x7fff;
-	ao_interval_min_pres = 0;
-	ao_interval_max_pres = 0x7fff;
-	ao_interval_end = AO_INTERVAL_TICKS;
-
 	ao_add_task(&flight_task, ao_flight, "flight");
 }