diff options
| author | Keith Packard <keithp@keithp.com> | 2009-05-10 23:01:16 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2009-05-10 23:01:16 -0700 |
| commit | ba3c53636e485450f48093d0a88a6629775f7c3a (patch) | |
| tree | efee83f35f4f5faebb4f5bb5206439f2fa1fa3bb | |
| parent | b623b1098bc7a10d471730259438fb82804221d0 (diff) | |
Don't re-initialize the landing range data at each apogee detect sample
The landing range values are used only after apogee detect, so we need only
initialize them on the transition from apogee to drogue.
Signed-off-by: Keith Packard <keithp@keithp.com>
| -rw-r--r-- | ao_flight.c | 36 |
1 files changed, 19 insertions, 17 deletions
diff --git a/ao_flight.c b/ao_flight.c index 91953975..3bc6b974 100644 --- a/ao_flight.c +++ b/ao_flight.c @@ -347,26 +347,28 @@ ao_flight(void) /* Enable RDF beacon */ ao_rdf_set(1); + /* + * Start recording min/max accel and pres for a while + * to figure out when the rocket has landed + */ + /* Set the 'last' limits to max range to prevent + * early resting detection + */ + ao_interval_min_accel = 0; + ao_interval_max_accel = 0x7fff; + 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; + ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel; + + /* and enter drogue state */ ao_flight_state = ao_flight_drogue; ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); } - /* - * Start recording min/max accel and pres for a while - * to figure out when the rocket has landed - */ - /* Set the 'last' limits to max range to prevent - * early resting detection - */ - ao_interval_min_accel = 0; - ao_interval_max_accel = 0x7fff; - 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; - ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel; break; case ao_flight_drogue: |