Minor bug fixe

RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/config.h

@@ -16,7 +16,7 @@
 #define COG_BRAKE       false // Will reduce command if CoG is turning faster than a threshold
 #define GPS_FREQ        5     // Hz
 #define SERVO_RATE      50    // Hz 
-#define TLM_MONITOR     false // Show telemetry on serial monitor 
+#define TLM_MONITOR     true  // Show telemetry on serial monitor 
 #define DEBUG           false // Will show all the steps on the screen
 #define GPS_PORT Serial7
 #define TLM_PORT Serial5 
@@ -30,9 +30,9 @@
 #define LINEAR_MODE     0     // command is linear (0), or linear but with a large deadband set using servo_start etc (1)
 #define DROP            true  // R2Home's version, drop or motorised
 
-#define DEP_MODE        0     // If 0, the timer will be used if 1, the altitude will be used, to trigger deployment once in descent mode
-#define DESCENT_TIMER   15000  
-#define OPENING_TIMER   6000
+#define DEP_MODE        1     // If 0, the ALTITUDE will be used if 1, the TIMER will be used, to trigger deployment once in descent mode
+#define DESCENT_TIMER   4000  
+#define OPENING_TIMER   3000
 #define SPIRAL_RECOVER  5000
 #define DEP_ALT         300   // m above ground  
 #define VUP             1     // m/s 
@@ -54,8 +54,8 @@
 #define PAYLOAD_WEIGHT 500 // Payload weight in gram 
 
 // If you choose to not use any of the two auto_gain functions, you can set the max commands with these two lines: 
-#define SERVO_MAX_M_DEF 1600 // m for map
-#define SERVO_MAX_C_DEF 1375 // c for constrain 
+#define SERVO_MAX_M_DEF 2000 // m for map
+#define SERVO_MAX_C_DEF 2000 // c for constrain 
 
 #define TRIG 20
 #define LEFT_OFFSET   100
@@ -72,6 +72,6 @@
 #define GPS_VS_AVG  1
 
 #define GPS_SAFE_AVG  50
-#define BARO_SAFE_AVG 10
+#define BARO_SAFE_AVG 5
 
 #define PRE_PE_AVG 50

RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/control.hpp

@@ -45,8 +45,6 @@ void cmpt_pressure_gain(float pressure_ratio) {
     if (AUTO_GAIN_PRESSURE) {
       SERVO_MAX_M = map((SERVO_MAX_M_W-1000)/pressure_ratio, 0, 1000, 1000, 2000); 
       SERVO_MAX_C = map((SERVO_MAX_M_W-1000)/pressure_ratio, 0, 1000, 1000, 2000);
-      Serial.print(SERVO_MAX_M_W); Serial.print(","); Serial.print(SERVO_MAX_M); Serial.print(",");
-      Serial.print(SERVO_MAX_C_W); Serial.print(","); Serial.println(SERVO_MAX_C); 
     }
     else {
       SERVO_MAX_M = SERVO_MAX_M_W;

RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/flight_state.hpp

@@ -3,6 +3,7 @@
 
 int flight_mode   = 0; 
 int dep_altitude  = 0; 
+int prev_flight_mode = 0; 
 bool initialised  = false;
 bool flight_started = false;
 bool deployed     = false; 
@@ -238,6 +239,14 @@ void flight_gliding_no_gps() {
 //------------------- STATE MACHINE -------------------//
 
 void cmpt_flight_state() {
+
+  if (flight_mode!=prev_flight_mode) {
+      cmpt_string_data(flight_mode, initialised, deployed, wing_opened, spiral);
+      save_data(initialised); 
+      send_data();
+      prev_flight_mode = flight_mode; 
+  }
+  
   switch(flight_mode) { 
     case 0: 
       flight_init();