#error Please define HAS_USB
#endif
-#ifndef USE_KALMAN
-#error Please define USE_KALMAN
-#endif
-
/* Main flight thread. */
__pdata enum ao_flight_state ao_flight_state; /* current flight state */
__pdata uint16_t ao_flight_tick; /* time of last data */
__pdata uint16_t ao_flight_prev_tick; /* time of previous data */
-__pdata int16_t ao_flight_pres; /* filtered pressure */
-__pdata int16_t ao_ground_pres; /* startup pressure */
-__pdata int16_t ao_min_pres; /* minimum recorded pressure */
+__xdata int16_t ao_ground_pres; /* startup pressure */
__pdata uint16_t ao_launch_tick; /* time of launch detect */
-__pdata int16_t ao_main_pres; /* pressure to eject main */
#if HAS_ACCEL
-__pdata int16_t ao_flight_accel; /* filtered acceleration */
__pdata int16_t ao_ground_accel; /* startup acceleration */
#endif
* resting
*/
__pdata uint16_t ao_interval_end;
-__pdata int16_t ao_interval_cur_min_pres;
-__pdata int16_t ao_interval_cur_max_pres;
-__pdata int16_t ao_interval_min_pres;
-__pdata int16_t ao_interval_max_pres;
-#if HAS_ACCEL
-__pdata int16_t ao_interval_cur_min_accel;
-__pdata int16_t ao_interval_cur_max_accel;
-__pdata int16_t ao_interval_min_accel;
-__pdata int16_t ao_interval_max_accel;
-#endif
+__pdata int16_t ao_interval_min_height;
+__pdata int16_t ao_interval_max_height;
__data uint8_t ao_flight_adc;
__pdata int16_t ao_raw_pres;
*/
#define GRAVITY 9.80665
-/* 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_NOSE_UP (ao_accel_2g >> 2)
-#define ACCEL_BOOST ao_accel_2g
-#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)
#endif
* 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa
*/
-#define BARO_kPa 268
-#define BARO_LAUNCH (BARO_kPa / 5) /* .2kPa, or about 20m */
-#define BARO_APOGEE (BARO_kPa / 10) /* .1kPa, or about 10m */
-#define BARO_COAST (BARO_kPa * 5) /* 5kpa, or about 500m */
-#define BARO_MAIN (BARO_kPa) /* 1kPa, or about 100m */
-#define BARO_INT_LAND (BARO_kPa / 20) /* .05kPa, or about 5m */
-#define BARO_LAND (BARO_kPa * 10) /* 10kPa or about 1000m */
-
/* We also have a clock, which can be used to sanity check things in
* case of other failures
*/
#define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
-#if HAS_ACCEL
-/* This value is scaled in a weird way. It's a running total of accelerometer
- * readings minus the ground accelerometer reading. That means it measures
- * velocity, and quite accurately too. As it gets updated 100 times a second,
- * it's scaled by 100
- */
-__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;
-#endif
-
-#if USE_KALMAN
-__pdata int16_t ao_ground_height;
-__pdata int32_t ao_k_max_height;
-__pdata int32_t ao_k_height;
-__pdata int32_t ao_k_speed;
-__pdata int32_t ao_k_accel;
-
#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
-
#define from_fix(x) ((x) >> 16)
-#define AO_K0_100 to_fix16(0.05680323)
-#define AO_K1_100 to_fix16(0.16608182)
-#define AO_K2_100 to_fix16(0.24279580)
+#include "ao_kalman.h"
+
+__pdata int16_t ao_ground_height;
+__pdata int16_t ao_height;
+__pdata int16_t ao_speed;
+__pdata int16_t ao_accel;
+__pdata int16_t ao_max_height;
+
+static __pdata int32_t ao_k_height;
+static __pdata int32_t ao_k_speed;
+static __pdata int32_t ao_k_accel;
#define AO_K_STEP_100 to_fix16(0.01)
#define AO_K_STEP_2_2_100 to_fix16(0.00005)
-#define AO_K0_10 to_fix16(0.23772023)
-#define AO_K1_10 to_fix16(0.32214149)
-#define AO_K2_10 to_fix16(0.21827159)
-
#define AO_K_STEP_10 to_fix16(0.1)
#define AO_K_STEP_2_2_10 to_fix16(0.005)
+/*
+ * Above this height, the baro sensor doesn't work
+ */
+#define AO_MAX_BARO_HEIGHT 8000
+
+/*
+ * Above this speed, baro measurements are unreliable
+ */
+#define AO_MAX_BARO_SPEED 300
+
+static void
+ao_kalman_predict(void)
+{
+#ifdef AO_FLIGHT_TEST
+ if (ao_flight_tick - ao_flight_prev_tick > 5) {
+ ao_k_height += ((int32_t) ao_speed * AO_K_STEP_10 +
+ (int32_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
+ ao_k_speed += (int32_t) ao_accel * AO_K_STEP_10;
+
+ return;
+ }
+#endif
+ ao_k_height += ((int32_t) ao_speed * AO_K_STEP_100 +
+ (int32_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
+ ao_k_speed += (int32_t) ao_accel * AO_K_STEP_100;
+}
+
+static __pdata int16_t ao_error_h;
+static __pdata int16_t ao_raw_alt;
+static __pdata int16_t ao_raw_height;
+static __pdata int16_t ao_error_h_sq_avg;
+
static void
-ao_kalman_baro(void)
+ao_kalman_err_height(void)
{
- int16_t err = ((ao_pres_to_altitude(ao_raw_pres) - ao_ground_height))
- - (int16_t) (ao_k_height >> 16);
+ int16_t e;
+ ao_error_h = ao_raw_height - (int16_t) (ao_k_height >> 16);
+
+ e = ao_error_h;
+ if (e < 0)
+ e = -e;
+ if (e > 127)
+ e = 127;
+ ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
+ ao_error_h_sq_avg += (e * e) >> 4;
+}
+static void
+ao_kalman_correct_baro(void)
+{
+ ao_kalman_err_height();
#ifdef AO_FLIGHT_TEST
if (ao_flight_tick - ao_flight_prev_tick > 5) {
- ao_k_height += ((ao_k_speed >> 16) * AO_K_STEP_10 +
- (ao_k_accel >> 16) * AO_K_STEP_2_2_10);
- ao_k_speed += (ao_k_accel >> 16) * AO_K_STEP_10;
-
- /* correct */
- ao_k_height += (int32_t) AO_K0_10 * err;
- ao_k_speed += (int32_t) AO_K1_10 * err;
- ao_k_accel += (int32_t) AO_K2_10 * err;
+ ao_k_height += (int32_t) AO_BARO_K0_10 * ao_error_h;
+ ao_k_speed += (int32_t) AO_BARO_K1_10 * ao_error_h;
+ ao_k_accel += (int32_t) AO_BARO_K2_10 * ao_error_h;
return;
}
#endif
- ao_k_height += ((ao_k_speed >> 16) * AO_K_STEP_100 +
- (ao_k_accel >> 16) * AO_K_STEP_2_2_100);
- ao_k_speed += (ao_k_accel >> 16) * AO_K_STEP_100;
-
- /* correct */
- ao_k_height += (int32_t) AO_K0_100 * err;
- ao_k_speed += (int32_t) AO_K1_100 * err;
- ao_k_accel += (int32_t) AO_K2_100 * err;
+ ao_k_height += (int32_t) AO_BARO_K0_100 * ao_error_h;
+ ao_k_speed += (int32_t) AO_BARO_K1_100 * ao_error_h;
+ ao_k_accel += (int32_t) AO_BARO_K2_100 * ao_error_h;
}
+
+#if HAS_ACCEL
+static __pdata int16_t ao_error_a;
+static __pdata int32_t ao_accel_scale;
+
+static void
+ao_kalman_err_accel(void)
+{
+ int32_t accel;
+
+ accel = (ao_ground_accel - ao_raw_accel) * ao_accel_scale;
+
+ /* Can't use ao_accel here as it is the pre-prediction value still */
+ ao_error_a = (accel - ao_k_accel) >> 16;
+}
+
+static void
+ao_kalman_correct_both(void)
+{
+ ao_kalman_err_height();
+ ao_kalman_err_accel();
+
+#if 0
+ /*
+ * Check to see if things are crazy here --
+ * if the computed height is far above the
+ * measured height, we assume that the flight
+ * trajectory is not vertical, and so ignore
+ * the accelerometer for the remainder of the
+ * flight.
+ */
+ if (ao_error_h_sq_avg > 10)
+ {
+ ao_kalman_correct_baro();
+ return;
+ }
+#endif
+
+#ifdef AO_FLIGHT_TEST
+ if (ao_flight_tick - ao_flight_prev_tick > 5) {
+ ao_k_height +=
+ (int32_t) AO_BOTH_K00_10 * ao_error_h +
+ (int32_t) (AO_BOTH_K01_10 >> 4) * ao_error_a;
+ ao_k_speed +=
+ ((int32_t) AO_BOTH_K10_10 << 4) * ao_error_h +
+ (int32_t) AO_BOTH_K11_10 * ao_error_a;
+ ao_k_accel +=
+ ((int32_t) AO_BOTH_K20_10 << 4) * ao_error_h +
+ (int32_t) AO_BOTH_K21_10 * ao_error_a;
+ return;
+ }
+#endif
+ ao_k_height +=
+ (int32_t) AO_BOTH_K00_100 * ao_error_h +
+ (int32_t) AO_BOTH_K01_100 * ao_error_a;
+ ao_k_speed +=
+ (int32_t) AO_BOTH_K10_100 * ao_error_h +
+ (int32_t) AO_BOTH_K11_100 * ao_error_a;
+ ao_k_accel +=
+ (int32_t) AO_BOTH_K20_100 * ao_error_h +
+ (int32_t) AO_BOTH_K21_100 * ao_error_a;
+}
+
+static void
+ao_kalman_correct_accel(void)
+{
+ ao_kalman_err_accel();
+
+#ifdef AO_FLIGHT_TEST
+ if (ao_flight_tick - ao_flight_prev_tick > 5) {
+ ao_k_height +=(int32_t) AO_ACCEL_K0_10 * ao_error_a;
+ ao_k_speed += (int32_t) AO_ACCEL_K1_10 * ao_error_a;
+ ao_k_accel += (int32_t) AO_ACCEL_K2_10 * ao_error_a;
+ return;
+ }
#endif
+ ao_k_height += (int32_t) AO_ACCEL_K0_100 * ao_error_a;
+ ao_k_speed += (int32_t) AO_ACCEL_K1_100 * ao_error_a;
+ ao_k_accel += (int32_t) AO_ACCEL_K2_100 * ao_error_a;
+}
+#endif /* HAS_ACCEL */
__xdata int32_t ao_raw_pres_sum;
+#ifdef HAS_ACCEL
+__xdata int32_t ao_raw_accel_sum;
+#endif
+
/* Landing is detected by getting constant readings from both pressure and accelerometer
* for a fairly long time (AO_INTERVAL_TICKS)
*/
ao_wakeup(DATA_TO_XDATA(&ao_flight_adc));
ao_sleep(DATA_TO_XDATA(&ao_adc_head));
while (ao_flight_adc != ao_adc_head) {
-#if HAS_ACCEL
- __pdata uint8_t ticks;
- __pdata int16_t ao_vel_change;
-#endif
__xdata struct ao_adc *ao_adc;
ao_flight_prev_tick = ao_flight_tick;
ao_adc = &ao_adc_ring[ao_flight_adc];
ao_flight_tick = ao_adc->tick;
ao_raw_pres = ao_adc->pres;
- ao_flight_pres -= ao_flight_pres >> 4;
- ao_flight_pres += ao_raw_pres >> 4;
-
+ ao_raw_alt = ao_pres_to_altitude(ao_raw_pres);
+ ao_raw_height = ao_raw_alt - ao_ground_height;
#if HAS_ACCEL
ao_raw_accel = ao_adc->accel;
#if HAS_ACCEL_REF
ao_raw_accel = (uint16_t) ((((uint32_t) ao_raw_accel << 16) / (ao_accel_ref[ao_flight_adc] << 1))) >> 1;
ao_adc->accel = ao_raw_accel;
#endif
-
- ao_flight_accel -= ao_flight_accel >> 4;
- ao_flight_accel += ao_raw_accel >> 4;
- /* Update velocity
- *
- * The accelerometer is mounted so that
- * acceleration yields negative values
- * while deceleration yields positive values,
- * so subtract instead of add.
- */
- ticks = ao_flight_tick - ao_flight_prev_tick;
- ao_vel_change = ao_ground_accel - (((ao_raw_accel + 1) >> 1) + ((ao_raw_accel_prev + 1) >> 1));
- ao_raw_accel_prev = ao_raw_accel;
-
- /* one is a common interval */
- if (ticks == 1)
- ao_flight_vel += (int32_t) ao_vel_change;
- else
- ao_flight_vel += (int32_t) ao_vel_change * (int32_t) ticks;
#endif
-#if USE_KALMAN
- if (ao_flight_state > ao_flight_idle)
- ao_kalman_baro();
-#endif
- ao_flight_adc = ao_adc_ring_next(ao_flight_adc);
- }
-
- if (ao_flight_pres < ao_min_pres)
- ao_min_pres = ao_flight_pres;
+ if (ao_flight_state > ao_flight_idle) {
+ ao_kalman_predict();
#if HAS_ACCEL
- if (ao_flight_vel >= 0) {
- if (ao_flight_vel < ao_min_vel)
- ao_min_vel = ao_flight_vel;
- } else {
- if (-ao_flight_vel < ao_min_vel)
- ao_min_vel = -ao_flight_vel;
+ if (ao_flight_state <= ao_flight_coast) {
+#ifndef FORCE_ACCEL
+ if (/*ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED) &&*/
+ ao_raw_alt < AO_MAX_BARO_HEIGHT)
+ ao_kalman_correct_both();
+ else
+#endif
+ ao_kalman_correct_accel();
+ } else
+#endif
+ if (ao_raw_alt < AO_MAX_BARO_HEIGHT || ao_flight_state >= ao_flight_drogue)
+ ao_kalman_correct_baro();
+ ao_height = from_fix(ao_k_height);
+ ao_speed = from_fix(ao_k_speed);
+ ao_accel = from_fix(ao_k_accel);
+ if (ao_height > ao_max_height)
+ ao_max_height = ao_height;
+ }
+ ao_flight_adc = ao_adc_ring_next(ao_flight_adc);
}
-#endif
switch (ao_flight_state) {
case ao_flight_startup:
++nsamples;
continue;
}
+ ao_config_get();
#if HAS_ACCEL
ao_ground_accel = ao_raw_accel_sum >> 9;
+ ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
+ ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
#endif
ao_ground_pres = ao_raw_pres_sum >> 9;
- ao_min_pres = ao_ground_pres;
- ao_config_get();
-#if USE_KALMAN
ao_ground_height = ao_pres_to_altitude(ao_ground_pres);
-#endif
- ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
-#if HAS_ACCEL
- ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
- ao_flight_vel = 0;
- ao_min_vel = 0;
- ao_old_vel = ao_flight_vel;
- ao_old_vel_tick = ao_flight_tick;
-#endif
/* Check to see what mode we should go to.
* - Invalid mode if accel cal appears to be out
* - pad mode if we're upright,
* - idle mode otherwise
*/
- ao_config_get();
#if HAS_ACCEL
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_minus_g + ACCEL_NOSE_UP)
+ ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
+ ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
{
/* Detected an accel value outside -1.5g to 1.5g
* (or uncalibrated values), so we go into invalid mode
#endif
if (!ao_flight_force_idle
#if HAS_ACCEL
- && ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
+ && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
#endif
)
{
break;
case ao_flight_pad:
-#if HAS_ACCEL
- /* 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;
- }
-#endif
/* pad to boost:
*
- * accelerometer: > 2g AND velocity > 5m/s
- * OR
* barometer: > 20m vertical motion
+ * OR
+ * accelerometer: > 2g AND velocity > 5m/s
*
* The accelerometer should always detect motion before
* the barometer, but we use both to make sure this
- * transition is detected
+ * transition is detected. If the device
+ * doesn't have an accelerometer, then ignore the
+ * speed and acceleration as they are quite noisy
+ * on the pad.
*/
-#if USE_KALMAN
+ if (ao_height > AO_M_TO_HEIGHT(20)
#if HAS_ACCEL
- /*
- * With an accelerometer, either to detect launch
- */
- if ((ao_k_accel > to_fix32(20) &&
- ao_k_speed > to_fix32(5)) ||
- ao_k_height > to_fix32(20))
-#else
- /*
- * Without an accelerometer, the barometer is far too
- * noisy to rely on speed or acceleration data
- */
- if (ao_k_height > to_fix32(20))
-#endif
-#else
- if (
-#if HAS_ACCEL
- (ao_flight_accel < ao_ground_accel - ACCEL_BOOST &&
- ao_flight_vel > ACCEL_VEL_BOOST) ||
-#endif
- ao_flight_pres < ao_ground_pres - BARO_LAUNCH)
+ || (ao_accel > AO_MSS_TO_ACCEL(20) &&
+ ao_speed > AO_MS_TO_SPEED(5))
#endif
+ )
{
-#if HAS_ACCEL || USE_KALMAN
ao_flight_state = ao_flight_boost;
-#else
- ao_flight_state = ao_flight_coast;
-#endif
ao_launch_tick = ao_flight_tick;
/* start logging data */
break;
}
break;
-#if HAS_ACCEL || USE_KALMAN
case ao_flight_boost:
/* boost to fast:
* deceleration, or by waiting until the maximum burn duration
* (15 seconds) has past.
*/
-#if USE_KALMAN
- if ((ao_k_accel < to_fix32(-10) && ao_k_height > to_fix32(100)) ||
- (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
-#else
- if (ao_flight_accel > ao_ground_accel + ACCEL_COAST ||
+ if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
(int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
-#endif
{
ao_flight_state = ao_flight_fast;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
case ao_flight_fast:
-
- /* fast to coast:
- *
- * accelerometer: integrated velocity < 200 m/s
- * OR
- * barometer: fall at least 500m from max altitude
- *
- * This extra state is required to avoid mis-detecting
- * apogee due to mach transitions.
- *
- * XXX this is essentially a single-detector test
- * as the 500m altitude change would likely result
- * in a loss of the rocket. More data on precisely
- * how big a pressure change the mach transition
- * generates would be useful here.
+ /*
+ * This is essentially the same as coast,
+ * but the barometer is being ignored as
+ * it may be unreliable.
*/
-#if USE_KALMAN
- if (ao_k_speed < to_fix32(200) ||
- ao_k_height < ao_k_max_height - to_fix32(500))
-#else
- if (ao_flight_vel < ACCEL_VEL_MACH ||
- ao_flight_pres > ao_min_pres + BARO_COAST)
-#endif
- {
-#if HAS_ACCEL
- /* set min velocity to current velocity for
- * apogee detect
- */
- ao_min_vel = abs(ao_flight_vel);
-#endif
+ 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));
+ break;
}
break;
-#endif /* HAS_ACCEL */
case ao_flight_coast:
-#if USE_KALMAN
/* apogee detect: coast to drogue deploy:
*
* speed: < 0
- */
- if (ao_k_speed < 0)
-#else
- /* apogee detect: coast to drogue deploy:
- *
- * barometer: fall at least 10m
*
- * It would be nice to use the accelerometer
- * to detect apogee as well, but tests have
- * shown that flights far from vertical would
- * grossly mis-detect apogee. So, for now,
- * we'll trust to a single sensor for this test
+ * Also make sure the model altitude is tracking
+ * the measured altitude reasonably closely; otherwise
+ * we're probably transsonic.
*/
- if (ao_flight_pres > ao_min_pres + BARO_APOGEE)
-#endif
+ if (ao_speed < 0 && (ao_raw_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100))
{
/* ignite the drogue charge */
ao_ignite(ao_igniter_drogue);
/* slow down the telemetry system */
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
-#if !USE_KALMAN
- /* slow down the ADC sample rate */
- ao_timer_set_adc_interval(10);
-#endif
-
/*
- * Start recording min/max accel and pres for a while
+ * Start recording min/max height
* to figure out when the rocket has landed
*/
- /* Set the 'last' limits to max range to prevent
- * early resting detection
- */
-#if HAS_ACCEL
- ao_interval_min_accel = 0;
- ao_interval_max_accel = 0x7fff;
-#endif
- ao_interval_min_pres = 0;
- ao_interval_max_pres = 0x7fff;
/* initialize interval values */
ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
- ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
-#if HAS_ACCEL
- ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
-#endif
+ ao_interval_min_height = ao_interval_max_height = ao_height;
/* and enter drogue state */
ao_flight_state = ao_flight_drogue;
* at that point. Perhaps also use the drogue sense lines
* to notice continutity?
*/
-#if USE_KALMAN
- if (from_fix(ao_k_height) < ao_config.main_deploy)
-#else
- if (ao_flight_pres >= ao_main_pres)
-#endif
+ if (ao_height <= ao_config.main_deploy)
{
ao_ignite(ao_igniter_main);
ao_flight_state = ao_flight_main;
/* drogue/main to land:
*
- * accelerometer: value stable
- * AND
* barometer: altitude stable and within 1000m of the launch altitude
*/
- if (ao_flight_pres < ao_interval_cur_min_pres)
- ao_interval_cur_min_pres = ao_flight_pres;
- if (ao_flight_pres > ao_interval_cur_max_pres)
- ao_interval_cur_max_pres = ao_flight_pres;
-#if HAS_ACCEL
- if (ao_flight_accel < ao_interval_cur_min_accel)
- ao_interval_cur_min_accel = ao_flight_accel;
- if (ao_flight_accel > ao_interval_cur_max_accel)
- ao_interval_cur_max_accel = ao_flight_accel;
-#endif
+ 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 ((int16_t) (ao_flight_tick - ao_interval_end) >= 0) {
- ao_interval_max_pres = ao_interval_cur_max_pres;
- ao_interval_min_pres = ao_interval_cur_min_pres;
- ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
-#if HAS_ACCEL
- ao_interval_max_accel = ao_interval_cur_max_accel;
- ao_interval_min_accel = ao_interval_cur_min_accel;
- ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
-#endif
- ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
-
- if (
-#if HAS_ACCEL
- (uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND &&
-#endif
- ao_flight_pres > ao_ground_pres - BARO_LAND &&
- (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND)
+ if (ao_height < AO_M_TO_HEIGHT(1000) &&
+ ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
{
ao_flight_state = ao_flight_landed;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
+ ao_interval_min_height = ao_interval_max_height = ao_height;
+ ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
}
break;
case ao_flight_landed:
projects / fw / altos / commitdiff