X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_flight.c;h=85c1825bddfebf68c06f2d2b055c511eddae4164;hp=f1b60d6978713a73012fccc7541fa8d6d9b72edf;hb=a7ee1049519bf46b3864666999249876009fc3bf;hpb=038d7b25ba833da4be458409670d3f95e8aaf17b

diff --git a/src/ao_flight.c b/src/ao_flight.c
index f1b60d69..85c1825b 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -43,7 +43,6 @@ __pdata uint16_t		ao_launch_tick;		/* time of launch detect */
 __pdata uint16_t		ao_interval_end;
 __pdata int16_t			ao_interval_min_height;
 __pdata int16_t			ao_interval_max_height;
-
 __pdata uint8_t			ao_flight_force_idle;
 
 /* We also have a clock, which can be used to sanity check things in
@@ -55,7 +54,7 @@ __pdata uint8_t			ao_flight_force_idle;
 /* 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(5)
+#define AO_INTERVAL_TICKS	AO_SEC_TO_TICKS(10)
 
 #define abs(a)	((a) < 0 ? -(a) : (a))
 
@@ -234,16 +233,6 @@ ao_flight(void)
 				/* Turn the RDF beacon back on */
 				ao_rdf_set(1);
 
-				/*
-				 * Start recording min/max height
-				 * to figure out when the rocket has landed
-				 */
-
-				/* initialize interval values */
-				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
-
-				ao_interval_min_height = ao_interval_max_height = ao_height;
-
 				/* and enter drogue state */
 				ao_flight_state = ao_flight_drogue;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
@@ -267,26 +256,37 @@ ao_flight(void)
 			if (ao_height <= ao_config.main_deploy)
 			{
 				ao_ignite(ao_igniter_main);
+
+				/*
+				 * Start recording min/max height
+				 * to figure out when the rocket has landed
+				 */
+
+				/* initialize interval values */
+				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
+
+				ao_interval_min_height = ao_interval_max_height = ao_avg_height;
+
 				ao_flight_state = ao_flight_main;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			}
+			break;
 
 			/* fall through... */
 		case ao_flight_main:
 
-			/* drogue/main to land:
+			/* main to land:
 			 *
-			 * barometer: altitude stable and within 1000m of the launch altitude
+			 * barometer: altitude stable
 			 */
 
-			if (ao_height < ao_interval_min_height)
-				ao_interval_min_height = ao_height;
-			if (ao_height > ao_interval_max_height)
-				ao_interval_max_height = ao_height;
+			if (ao_avg_height < ao_interval_min_height)
+				ao_interval_min_height = ao_avg_height;
+			if (ao_avg_height > ao_interval_max_height)
+				ao_interval_max_height = ao_avg_height;
 
 			if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
-				if (ao_height < AO_M_TO_HEIGHT(1000) &&
-				    ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
+				if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
 				{
 					ao_flight_state = ao_flight_landed;
 
@@ -295,7 +295,7 @@ ao_flight(void)
 
 					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 				}
-				ao_interval_min_height = ao_interval_max_height = ao_height;
+				ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 			}
 			break;