diff options
Diffstat (limited to 'ao_flight.c')
| -rw-r--r-- | ao_flight.c | 17 |
1 files changed, 11 insertions, 6 deletions
diff --git a/ao_flight.c b/ao_flight.c index 1f56dab6..01bbcce9 100644 --- a/ao_flight.c +++ b/ao_flight.c @@ -76,7 +76,7 @@ __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres; #define ACCEL_G 265 #define ACCEL_ZERO_G 16000 -#define ACCEL_NOSE_UP (ACCEL_ZERO_G - ACCEL_G * 2 /3) +#define ACCEL_NOSE_UP (ACCEL_G * 2 /3) #define ACCEL_BOOST ACCEL_G * 2 #define ACCEL_INT_LAND (ACCEL_G / 10) #define ACCEL_VEL_LAND VEL_MPS_TO_COUNT(10) @@ -229,14 +229,16 @@ ao_flight(void) ao_ground_accel = (ao_raw_accel_sum / nsamples); ao_ground_pres = (ao_raw_pres_sum / nsamples); ao_min_pres = ao_ground_pres; - ao_main_pres = ao_ground_pres - BARO_MAIN; + ao_config_get(); + ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy); ao_flight_vel = 0; ao_min_vel = 0; ao_interval_end = ao_flight_tick; /* Go to launchpad state if the nose is pointing up */ - if (ao_flight_accel < ACCEL_NOSE_UP) { + ao_config_get(); + if (ao_flight_accel < ao_config.accel_zero_g - ACCEL_NOSE_UP) { /* Disable the USB controller in flight mode * to save power @@ -256,7 +258,6 @@ ao_flight(void) /* Turn on the Green LED in idle mode */ ao_led_on(AO_LED_GREEN); - ao_timer_set_adc_interval(100); ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); } /* signal successful initialization by turning off the LED */ @@ -362,6 +363,9 @@ ao_flight(void) /* slow down the telemetry system */ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER); + /* slow down the ADC sample rate */ + ao_timer_set_adc_interval(10); + /* Enable RDF beacon */ ao_rdf_set(1); @@ -422,11 +426,12 @@ ao_flight(void) static void ao_flight_status(void) { - printf("STATE: %7s accel: %d speed: %d altitude: %d\n", + printf("STATE: %7s accel: %d speed: %d altitude: %d main: %d\n", ao_state_names[ao_flight_state], AO_ACCEL_COUNT_TO_MSS(ACCEL_ZERO_G - ao_flight_accel), AO_VEL_COUNT_TO_MS(ao_flight_vel), - ao_pres_to_altitude(ao_flight_pres)); + ao_pres_to_altitude(ao_flight_pres), + ao_pres_to_altitude(ao_main_pres)); } static __xdata struct ao_task flight_task; |