diff options
| author | Keith Packard <keithp@keithp.com> | 2011-10-08 11:51:05 -0600 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2011-10-08 11:59:34 -0600 |
| commit | 6a7363b3ba99310bd44c9b66f6f5159e46762be4 (patch) | |
| tree | 39c91e56a006614e039961417466c12c1c1ab041 | |
| parent | 82604193ed0c522c1fba0072b504fe88b027f1ee (diff) | |
altos: Ignore ejection bumps when doing boost re-detect
An ejection charge looks an awful lot like an extra (really small)
motor burn. Ignore them by averaging the acceleration during
fast/coast using a /64 exponential decay filter.
Signed-off-by: Keith Packard <keithp@keithp.com>
| -rw-r--r-- | src/core/ao_flight.c | 12 |
1 files changed, 8 insertions, 4 deletions
diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c index 433efeae..5e194638 100644 --- a/src/core/ao_flight.c +++ b/src/core/ao_flight.c @@ -40,9 +40,11 @@ __pdata uint16_t ao_boost_tick; /* time of launch detect */ * track min/max data over a long interval to detect * resting */ -__pdata uint16_t ao_interval_end; -__pdata int16_t ao_interval_min_height; -__pdata int16_t ao_interval_max_height; +static __data uint16_t ao_interval_end; +static __data int16_t ao_interval_min_height; +static __data int16_t ao_interval_max_height; +static __data int16_t ao_coast_avg_accel; + __pdata uint8_t ao_flight_force_idle; /* We also have a clock, which can be used to sanity check things in @@ -197,6 +199,7 @@ ao_flight(void) { #if HAS_ACCEL ao_flight_state = ao_flight_fast; + ao_coast_avg_accel = ao_accel; #else ao_flight_state = ao_flight_coast; #endif @@ -250,7 +253,8 @@ ao_flight(void) #if HAS_ACCEL else { check_re_boost: - if (ao_accel > AO_MSS_TO_ACCEL(20)) { + ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6); + 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)); |