X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_flight.c;h=170396ff160ab41473f656d8b125d9b8f593b623;hp=50f2b68f998f3df1c7960bfb64ffb6153e15de6f;hb=6023ff81f1bbd240169b9548209133d3b02d475f;hpb=1085ec5d57e0ed5d132f2bbdac1a0b6a32c0ab4a

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 50f2b68f..170396ff 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -21,7 +21,7 @@
 #include <ao_log.h>
 #endif
 
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
 #include <ao_quaternion.h>
 #endif
 
@@ -48,7 +48,8 @@
 /* Main flight thread. */
 
 __pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
-__pdata uint16_t		ao_boost_tick;		/* time of launch detect */
+__pdata uint16_t		ao_boost_tick;		/* time of most recent boost detect */
+__pdata uint16_t		ao_launch_tick;		/* time of first boost detect */
 __pdata uint16_t		ao_motor_number;	/* number of motors burned so far */
 
 #if HAS_SENSOR_ERRORS
@@ -174,7 +175,7 @@ ao_flight(void)
 #endif
 			}
 			/* wakeup threads due to state change */
-			ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+			ao_wakeup(&ao_flight_state);
 
 			break;
 		case ao_flight_pad:
@@ -199,7 +200,7 @@ ao_flight(void)
 				)
 			{
 				ao_flight_state = ao_flight_boost;
-				ao_boost_tick = ao_sample_tick;
+				ao_launch_tick = ao_boost_tick = ao_sample_tick;
 
 				/* start logging data */
 				ao_log_start();
@@ -218,7 +219,7 @@ ao_flight(void)
 				ao_wakeup(&ao_gps_new);
 #endif
 
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				ao_wakeup(&ao_flight_state);
 			}
 			break;
 		case ao_flight_boost:
@@ -233,7 +234,7 @@ ao_flight(void)
 			 * deceleration, or by waiting until the maximum burn duration
 			 * (15 seconds) has past.
 			 */
-			if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
+			if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) ||
 			    (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
 			{
 #if HAS_ACCEL
@@ -243,7 +244,7 @@ ao_flight(void)
 				ao_flight_state = ao_flight_coast;
 #endif
 				++ao_motor_number;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				ao_wakeup(&ao_flight_state);
 			}
 			break;
 #if HAS_ACCEL
@@ -256,7 +257,7 @@ ao_flight(void)
 			if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
 			{
 				ao_flight_state = ao_flight_coast;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				ao_wakeup(&ao_flight_state);
 			} else
 				goto check_re_boost;
 			break;
@@ -269,7 +270,7 @@ ao_flight(void)
 			 * number of seconds.
 			 */
 			if (ao_config.apogee_lockout) {
-				if ((ao_sample_tick - ao_boost_tick) <
+				if ((int16_t) (ao_sample_tick - ao_launch_tick) <
 				    AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 					break;
 			}
@@ -282,9 +283,11 @@ ao_flight(void)
 			 * the measured altitude reasonably closely; otherwise
 			 * we're probably transsonic.
 			 */
+#define AO_ERROR_BOUND	100
+
 			if (ao_speed < 0
 #if !HAS_ACCEL
-			    && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
+			    && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND)
 #endif
 				)
 			{
@@ -303,16 +306,16 @@ ao_flight(void)
 
 				/* and enter drogue state */
 				ao_flight_state = ao_flight_drogue;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				ao_wakeup(&ao_flight_state);
 			}
 #if HAS_ACCEL
 			else {
 			check_re_boost:
-				ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
+				ao_coast_avg_accel = ao_coast_avg_accel + ((ao_accel - ao_coast_avg_accel) >> 5);
 				if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
 					ao_boost_tick = ao_sample_tick;
 					ao_flight_state = ao_flight_boost;
-					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+					ao_wakeup(&ao_flight_state);
 				}
 			}
 #endif
@@ -349,7 +352,7 @@ ao_flight(void)
 				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));
+				ao_wakeup(&ao_flight_state);
 			}
 			break;
 
@@ -376,7 +379,7 @@ ao_flight(void)
 					ao_timer_set_adc_interval(0);
 #endif
 
-					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+					ao_wakeup(&ao_flight_state);
 				}
 				ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;