diff options
| author | Keith Packard <keithp@keithp.com> | 2012-04-14 12:02:14 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2012-04-14 14:04:29 -0700 |
| commit | 6cb744e305116a738b5d71686c6748f6f08c12ea (patch) | |
| tree | 536b510332adb5dd93f99c8c06b33a18b038d832 /src/core/ao_flight.c | |
| parent | 9a8fec1b6d8f3346f988882ffb03d7d0e45b3c81 (diff) | |
altos: Respect apogee lockout time in flight algorithm
This prevents any apogee detection from occurring until the specified
number of seconds after boost. This also prevents the switch from
accel+baro to baro only mode in the Kalman filter.
The test frame work is also changed to look for Apogee lockout: in the
eeprom input file.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/core/ao_flight.c')
| -rw-r--r-- | src/core/ao_flight.c | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c index 5e194638..494e656d 100644 --- a/src/core/ao_flight.c +++ b/src/core/ao_flight.c @@ -223,6 +223,17 @@ ao_flight(void) #endif case ao_flight_coast: + /* + * By customer request - allow the user + * to lock out apogee detection for a specified + * number of seconds. + */ + if (ao_config.apogee_lockout) { + if ((ao_sample_tick - ao_boost_tick) < + AO_SEC_TO_TICKS(ao_config.apogee_lockout)) + break; + } + /* apogee detect: coast to drogue deploy: * * speed: < 0 |