diff options
| -rw-r--r-- | src/ao_flight.c | 29 |
1 files changed, 15 insertions, 14 deletions
diff --git a/src/ao_flight.c b/src/ao_flight.c index a8760ff0..af3d6bfa 100644 --- a/src/ao_flight.c +++ b/src/ao_flight.c @@ -233,16 +233,6 @@ ao_flight(void) /* Turn the RDF beacon back on */ ao_rdf_set(1); - /* - * Start recording min/max height - * to figure out when the rocket has landed - */ - - /* initialize interval values */ - ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; - - ao_interval_min_height = ao_interval_max_height = ao_avg_height; - /* and enter drogue state */ ao_flight_state = ao_flight_drogue; ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); @@ -266,16 +256,28 @@ ao_flight(void) if (ao_height <= ao_config.main_deploy) { ao_ignite(ao_igniter_main); + + /* + * Start recording min/max height + * to figure out when the rocket has landed + */ + + /* initialize interval values */ + ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; + + ao_interval_min_height = ao_interval_max_height = ao_avg_height; + ao_flight_state = ao_flight_main; ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); } + break; /* fall through... */ case ao_flight_main: - /* drogue/main to land: + /* main to land: * - * barometer: altitude stable and within 1000m of the launch altitude + * barometer: altitude stable */ if (ao_avg_height < ao_interval_min_height) @@ -284,8 +286,7 @@ ao_flight(void) 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(2)) + if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(2)) { ao_flight_state = ao_flight_landed; |