diff options
| author | Keith Packard <keithp@keithp.com> | 2018-05-07 08:51:36 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2018-05-07 09:21:56 -0700 |
| commit | cc83d57454ed07e4828b4413e5af6ae2ecfe2e5a (patch) | |
| tree | 9002f5d40e54ab38e88b1ed22f65dd227ae1c15c | |
| parent | 49aafcbb6c0f3ecda4b668776be74a04a5654377 (diff) | |
altos: Eliminate height requirement for coast detect
We had required a minimum altitude of 100m to transition from boost to
coast. With small motors in a heavy multi-staged rocket, this can fail
to detect coast in time to light the second motor.
Also, this would fail to deploy recovery systems if the flight failed
before reaching 100m.
Signed-off-by: Keith Packard <keithp@keithp.com>
| -rw-r--r-- | src/kernel/ao_flight.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c index cb02c454..7b3cb9fa 100644 --- a/src/kernel/ao_flight.c +++ b/src/kernel/ao_flight.c @@ -233,7 +233,7 @@ 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 @@ -310,7 +310,7 @@ ao_flight(void) #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; |