diff options
Diffstat (limited to 'ao_flight.c')
| -rw-r--r-- | ao_flight.c | 25 |
1 files changed, 14 insertions, 11 deletions
diff --git a/ao_flight.c b/ao_flight.c index d50d37e3..0b47bfa5 100644 --- a/ao_flight.c +++ b/ao_flight.c @@ -377,13 +377,17 @@ ao_flight(void) /* drogue to main deploy: * - * accelerometer: abs(velocity) > 100m/s (in case the drogue failed) - * OR * barometer: reach main deploy altitude + * + * Would like to use the accelerometer for this test, but + * the orientation of the flight computer is unknown after + * drogue deploy, so we ignore it. Could also detect + * high descent rate using the pressure sensor to + * recognize drogue deploy failure and eject the main + * at that point. Perhaps also use the drogue sense lines + * to notice continutity? */ - if (ao_flight_vel < -ACCEL_VEL_MAIN || - ao_flight_vel > ACCEL_VEL_MAIN || - ao_flight_pres >= ao_main_pres) + if (ao_flight_pres >= ao_main_pres) { ao_ignite(ao_igniter_main); ao_flight_state = ao_flight_main; @@ -395,8 +399,8 @@ ao_flight(void) /* drogue/main to land: * - * accelerometer: value stable and velocity less than 10m/s - * OR + * accelerometer: value stable + * AND * barometer: altitude stable and within 1000m of the launch altitude */ @@ -419,10 +423,9 @@ ao_flight(void) ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel; } - if ((abs(ao_flight_vel) < ACCEL_VEL_LAND && - (uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND) || - (ao_flight_pres > ao_ground_pres - BARO_LAND && - (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND)) + if ((uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND && + ao_flight_pres > ao_ground_pres - BARO_LAND && + (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND) { ao_flight_state = ao_flight_landed; |