diff options
Diffstat (limited to 'src/kernel/ao_flight.c')
| -rw-r--r-- | src/kernel/ao_flight.c | 11 |
1 files changed, 6 insertions, 5 deletions
diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c index cb02c454..c2700d20 100644 --- a/src/kernel/ao_flight.c +++ b/src/kernel/ao_flight.c @@ -48,7 +48,8 @@ /* Main flight thread. */ __pdata enum ao_flight_state ao_flight_state; /* current flight state */ -__pdata uint16_t ao_boost_tick; /* time of launch detect */ +__pdata uint16_t ao_boost_tick; /* time of most recent boost detect */ +__pdata uint16_t ao_launch_tick; /* time of first boost detect */ __pdata uint16_t ao_motor_number; /* number of motors burned so far */ #if HAS_SENSOR_ERRORS @@ -199,7 +200,7 @@ ao_flight(void) ) { ao_flight_state = ao_flight_boost; - ao_boost_tick = ao_sample_tick; + ao_launch_tick = ao_boost_tick = ao_sample_tick; /* start logging data */ ao_log_start(); @@ -233,7 +234,7 @@ ao_flight(void) * deceleration, or by waiting until the maximum burn duration * (15 seconds) has past. */ - if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) || + if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) || (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX) { #if HAS_ACCEL @@ -269,7 +270,7 @@ ao_flight(void) * number of seconds. */ if (ao_config.apogee_lockout) { - if ((int16_t) (ao_sample_tick - ao_boost_tick) < + if ((int16_t) (ao_sample_tick - ao_launch_tick) < AO_SEC_TO_TICKS(ao_config.apogee_lockout)) break; } @@ -310,7 +311,7 @@ ao_flight(void) #if HAS_ACCEL else { check_re_boost: - ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6); + ao_coast_avg_accel = ao_coast_avg_accel + ((ao_accel - ao_coast_avg_accel) >> 5); if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) { ao_boost_tick = ao_sample_tick; ao_flight_state = ao_flight_boost; |