diff options
Diffstat (limited to 'src/kernel')
| -rw-r--r-- | src/kernel/ao_flight.c | 7 | ||||
| -rw-r--r-- | src/kernel/ao_flight.h | 1 | ||||
| -rw-r--r-- | src/kernel/ao_pyro.c | 8 |
3 files changed, 9 insertions, 7 deletions
diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c index 7b3cb9fa..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(); @@ -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; } diff --git a/src/kernel/ao_flight.h b/src/kernel/ao_flight.h index 6894fe59..005c7e84 100644 --- a/src/kernel/ao_flight.h +++ b/src/kernel/ao_flight.h @@ -40,6 +40,7 @@ enum ao_flight_state { extern __pdata enum ao_flight_state ao_flight_state; extern __pdata uint16_t ao_boost_tick; +extern __pdata uint16_t ao_launch_tick; extern __pdata uint16_t ao_motor_number; #if HAS_IMU || HAS_MMA655X diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c index 3c872354..527112ac 100644 --- a/src/kernel/ao_pyro.c +++ b/src/kernel/ao_pyro.c @@ -160,14 +160,14 @@ ao_pyro_ready(struct ao_pyro *pyro) #endif case ao_pyro_time_less: - if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less) + if ((int16_t) (ao_time() - ao_launch_tick) <= pyro->time_less) continue; - DBG("time %d > %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_less); + DBG("time %d > %d\n", (int16_t)(ao_time() - ao_launch_tick), pyro->time_less); break; case ao_pyro_time_greater: - if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater) + if ((int16_t) (ao_time() - ao_launch_tick) >= pyro->time_greater) continue; - DBG("time %d < %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_greater); + DBG("time %d < %d\n", (int16_t)(ao_time() - ao_launch_tick), pyro->time_greater); break; case ao_pyro_ascending: |