Upgrade separation servo

Separation altitude is now also relative to ground

+ New option to test the sep servo "TEST_SEP_SERVO"

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

@@ -2,6 +2,7 @@
 
 #define I_WANT_TO_FLY   false // Simulated servo movement to test the servo movement :)) 
 #define TEST_DIR_RC     false // Use channels 0 on the radio to test the direction of the autopilot and the servos, I_WANT_TO_FLY should be set true too. 
+#define TEST_SEP_SERVO  false // Will simulate a separation 10 seconds after start up 
 #define BUZZER_TURN     false // Buzzer sounds as function of the turn command 
 #define BUZZER_SWEEP    false // Buzzer turn on steroïds, should be easier to understand his tricky language ^^
 #define NO_INIT         false // Skip init, for testing only purposes 
@@ -35,7 +36,7 @@
 #define OPENING_TIMER   3000
 #define SPIRAL_RECOVER  5000
 #define DEP_ALT         300   // m above ground  
-#define SEP_ALT         10000 // m above sea level
+#define SEP_ALT         10    // m above sea level
 #define VUP             1     // m/s 
 #define VDOWN           -1    // m/s
 

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 sep_altitude = 0; 
 int prev_flight_mode = 0; 
 bool initialised  = false;
 bool flight_started = false;
@@ -50,7 +51,10 @@ void flight_init() {
     cmpt_string_data(flight_mode, initialised, deployed, wing_opened, spiral);
 
     ground_altitude = gps.altitude.meters();
+    ground_altitude = constrain(ground_altitude, 0, 2000); 
+    
     dep_altitude = (DEP_ALT+ground_altitude);
+    sep_altitude = (SEP_ALT+ground_altitude); 
   
     setcam(1, 60, 60); 
     newfile();
@@ -107,7 +111,7 @@ void flight_ascent() {
   if ((gps.altitude.meters()-ground_altitude)>10) {
     flight_started = true; 
   }
-  if (gps.altitude.meters()>SEP_ALT and gps_ok) {
+  if (gps.altitude.meters()>sep_altitude and gps_ok) {
     separation = true;
   }
 }

RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/main.ino

@@ -59,6 +59,10 @@ void loop() {
   if (DEBUG) {
     delay(10); 
   }
+
+  if (TEST_SEP_SERVO and millis()>10000) {
+    deployed = true; 
+  }
   
 }