diff options
| author | Keith Packard <keithp@keithp.com> | 2011-08-01 22:33:38 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2011-08-02 00:30:08 -0700 |
| commit | e19a117b99e8374ca0e8e35948e23bc672ad1a32 (patch) | |
| tree | c079f4bf51fbca4ff00dd5232698cd6ecd247436 /src/ao_flight.c | |
| parent | 146a0ab223e8d9b376125d1e59f597f6d7851a9b (diff) | |
altos: Average height values for landing detection
Instead of using the direct output of the kalman filter and hoping
that is quiet enough to detect landing, filter that with a long
exponential decay filter and then check to make sure that doesn't
change more than 2m in 5 seconds as a trigger for landing detection.
Tested with existing telemetrum flight logs and it correctly detects
landing in all cases.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/ao_flight.c')
| -rw-r--r-- | src/ao_flight.c | 15 |
1 files changed, 7 insertions, 8 deletions
diff --git a/src/ao_flight.c b/src/ao_flight.c index f1b60d69..a8760ff0 100644 --- a/src/ao_flight.c +++ b/src/ao_flight.c @@ -43,7 +43,6 @@ __pdata uint16_t ao_launch_tick; /* time of launch detect */ __pdata uint16_t ao_interval_end; __pdata int16_t ao_interval_min_height; __pdata int16_t ao_interval_max_height; - __pdata uint8_t ao_flight_force_idle; /* We also have a clock, which can be used to sanity check things in @@ -242,7 +241,7 @@ ao_flight(void) /* initialize interval values */ ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; - ao_interval_min_height = ao_interval_max_height = ao_height; + ao_interval_min_height = ao_interval_max_height = ao_avg_height; /* and enter drogue state */ ao_flight_state = ao_flight_drogue; @@ -279,14 +278,14 @@ ao_flight(void) * barometer: altitude stable and within 1000m of the launch altitude */ - 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 (ao_avg_height < ao_interval_min_height) + ao_interval_min_height = ao_avg_height; + if (ao_avg_height > ao_interval_max_height) + ao_interval_max_height = ao_avg_height; if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) { if (ao_height < AO_M_TO_HEIGHT(1000) && - ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5)) + ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(2)) { ao_flight_state = ao_flight_landed; @@ -295,7 +294,7 @@ ao_flight(void) ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); } - ao_interval_min_height = ao_interval_max_height = ao_height; + ao_interval_min_height = ao_interval_max_height = ao_avg_height; ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; } break; |