altos: use raw height while waiting for landing
authorKeith Packard <keithp@keithp.com>
Sun, 14 Aug 2011 06:58:03 +0000 (23:58 -0700)
committerKeith Packard <keithp@keithp.com>
Sun, 14 Aug 2011 06:58:03 +0000 (23:58 -0700)
This avoids any noise introduced by the kalman filter, making landing
detection much more reliable. This patch also changes the interval to
10s so that the height bounds can be increased to 4m.

Signed-off-by: Keith Packard <keithp@keithp.com>
src/ao_flight.c
src/ao_kalman.c

index af3d6bf..85c1825 100644 (file)
@@ -54,7 +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))
 
@@ -286,7 +286,7 @@ ao_flight(void)
                                ao_interval_max_height = ao_avg_height;
 
                        if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
-                               if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(2))
+                               if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
                                {
                                        ao_flight_state = ao_flight_landed;
 
index 203d727..ee01949 100644 (file)
@@ -277,7 +277,7 @@ ao_kalman(void)
        ao_accel = from_fix(ao_k_accel);
        if (ao_height > ao_max_height)
                ao_max_height = ao_height;
-       ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_height;
+       ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height;
 #ifdef AO_FLIGHT_TEST
        if (ao_sample_tick - ao_sample_prev_tick > 50)
                ao_avg_height = (ao_avg_height_scaled + 1) >> 1;