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Need to not use ao_error_h_sq_avg without HAS_ACCEL
Signed-off-by: Keith Packard <keithp@keithp.com>
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Signed-off-by: Keith Packard <keithp@keithp.com>
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Now that we don't support 8051, we don't need these
Signed-off-by: Keith Packard <keithp@keithp.com>
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Prior to this, there was only ao_boost_tick, which got reset at each
motor burn start. That meant there wasn't any way to measure total
flight time for pyro channels and 'apogee lockout' was based on time
since most recent motor start instead of total flight time.
Now pyro channels and apogee lockout both use total flight time, while
motor burn length still uses time since most recent motor burn start
(as it should).
Docs and UI updated to use 'launch' instead of 'boost' to try and make
the change clear.
Signed-off-by: Keith Packard <keithp@keithp.com>
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We had required a minimum altitude of 100m to transition from boost to
coast. With small motors in a heavy multi-staged rocket, this can fail
to detect coast in time to light the second motor.
Also, this would fail to deploy recovery systems if the flight failed
before reaching 100m.
Signed-off-by: Keith Packard <keithp@keithp.com>
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Use MPU9250 for accel, gyro and mag data in logging, telemetry and
flight status computations.
Signed-off-by: Keith Packard <keithp@keithp.com>
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Instead of completely eliminating the baro sensor above mach speed,
just derate it a bit so that the accel will dominate for speed
computation and keep the device from false-triggering across mach
transitions.
When we completely ignored the baro sensor above mach, and the flight
spent considerable time in that speed range, then the estimated height
could be far from the real value. When the estimated speed dropped
back down and the baro values were brought back into the computation,
then the resulting rapid shift in estimated speed could trigger
accidental apogee detection.
By mixing in a bit of baro data even above mach, we keep the estimated
height closer to the baro value and prevent this error, at least in
flights measured so far.
The flight known to have this problem is:
2015-09-26-serial-2093-flight-0012.eeprom
Signed-off-by: Keith Packard <keithp@keithp.com>
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Subtracting two 16-bit unsigned values to perform time comparisons
yields mystic results unless we carefully cast that to int16_t.
Signed-off-by: Keith Packard <keithp@keithp.com>
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Signed-off-by: Keith Packard <keithp@keithp.com>
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This leaves the command line available for diagnostics when debugging.
Signed-off-by: Keith Packard <keithp@keithp.com>
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Detherm has no ADC connections, so we don't need to disable the ADC
when going to landed state.
Signed-off-by: Keith Packard <keithp@keithp.com>
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Stores 32-bits for all of the flight parameters. Uses 64-bit
intermediates for kalman computation.
Signed-off-by: Keith Packard <keithp@keithp.com>
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Redirects data input from local sensors to USB sourced data, leaving
USB enabled when the computer goes into pad mode.
Signed-off-by: Keith Packard <keithp@keithp.com>
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core remains a bad name to use -- dirvish skips files (and
directories, it seems) with that name.
Signed-off-by: Keith Packard <keithp@keithp.com>
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