re-add fsm fix

ISSUIUC · Feb 18, 2025 · 56a528c · 56a528c
1 parent 3a7ede8
commit 56a528c
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/MIDAS/src/finite-state-machines/fsm.cpp b/MIDAS/src/finite-state-machines/fsm.cpp
@@ -62,13 +62,13 @@ StateEstimate::StateEstimate(RocketData& state) {
     acceleration = sensor_average<HighGData, 8>(state.high_g, [](HighGData& data) {
         return (double) data.ax;
     });
-    altitude = sensor_average<Barometer, 8>(state.barometer, [](Barometer& data) {
+    altitude = sensor_average<Barometer, 16>(state.barometer, [](Barometer& data) {
         return (double) data.altitude;
     });
     jerk = sensor_derivative<HighGData, 8>(state.high_g, [](HighGData& data) {
         return (double) data.ax;
     });
-    vertical_speed = sensor_derivative<Barometer, 8>(state.barometer, [](Barometer& data) {
+    vertical_speed = sensor_derivative<Barometer, 16>(state.barometer, [](Barometer& data) {
         return (double) data.altitude;
     });
 }

diff --git a/MIDAS/src/finite-state-machines/thresholds.h b/MIDAS/src/finite-state-machines/thresholds.h
@@ -66,7 +66,7 @@
 #define sustainer_coast_time 3000
 
 // Transition to LANDED from MAIN if vertical speed is less than this threshold (m/s)
-#define sustainer_landed_vertical_speed_threshold 3
+#define sustainer_landed_vertical_speed_threshold 4
 
 // Lock out further transitions from LANDED after this much time passes in the LANDED state. (ms)
 #define sustainer_landed_time_lockout 60000

diff --git a/MIDAS/src/rocket_state.h b/MIDAS/src/rocket_state.h
@@ -182,7 +182,7 @@ struct RocketData {
     SensorData<KalmanData> kalman;
     SensorData<LowGData> low_g;
     BufferedSensorData<HighGData, 8> high_g;
-    BufferedSensorData<Barometer, 8> barometer;
+    BufferedSensorData<Barometer, 16> barometer;
     SensorData<LowGLSM> low_g_lsm;
     SensorData<Continuity> continuity;
     SensorData<PyroState> pyro;