From 6cb744e305116a738b5d71686c6748f6f08c12ea Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 14 Apr 2012 12:02:14 -0700 Subject: altos: Respect apogee lockout time in flight algorithm This prevents any apogee detection from occurring until the specified number of seconds after boost. This also prevents the switch from accel+baro to baro only mode in the Kalman filter. The test frame work is also changed to look for Apogee lockout: in the eeprom input file. Signed-off-by: Keith Packard --- src/core/ao_flight.c | 11 +++++++++++ 1 file changed, 11 insertions(+) (limited to 'src/core/ao_flight.c') diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c index 5e194638..494e656d 100644 --- a/src/core/ao_flight.c +++ b/src/core/ao_flight.c @@ -223,6 +223,17 @@ ao_flight(void) #endif case ao_flight_coast: + /* + * By customer request - allow the user + * to lock out apogee detection for a specified + * number of seconds. + */ + if (ao_config.apogee_lockout) { + if ((ao_sample_tick - ao_boost_tick) < + AO_SEC_TO_TICKS(ao_config.apogee_lockout)) + break; + } + /* apogee detect: coast to drogue deploy: * * speed: < 0 -- cgit v1.2.3