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catsystems · Jul 22, 2023 · 0aa981b · 0aa981b
1 parent 87a2400
commit 0aa981b
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/flight_computer/src/tasks/task_preprocessing.cpp b/flight_computer/src/tasks/task_preprocessing.cpp
@@ -87,12 +87,13 @@ SI_data_t Preprocessing::GetSIData() const noexcept { return m_si_data; }
 
     /* Check if there is a Calibration Error */
     if (m_fsm_enum == READY) {
+      /* This corresponds to an angle of circa 15° */
       if (m_state_est_input.acceleration_z > 0.5F || m_state_est_input.acceleration_z < -0.5F) {
         faulty_calibration_counter++;
       } else {
         faulty_calibration_counter = 0;
       }
-      if (faulty_calibration_counter > MAX_FAULTY_CALIB) {
+      if (faulty_calibration_counter > kMaxFaultyCalib) {
         add_error(CATS_ERR_CALIB);
       } else {
         clear_error(CATS_ERR_CALIB);

diff --git a/flight_computer/src/tasks/task_preprocessing.hpp b/flight_computer/src/tasks/task_preprocessing.hpp
@@ -62,9 +62,10 @@ class Preprocessing final : public Task<Preprocessing, 512> {
   state_estimation_input_t m_state_est_input = {.acceleration_z = 0.0F, .height_AGL = 0.0F};
   float32_t m_height_0 = 0.0F;
 
-  /* Variable to keep track for the calibration health */
+  /* Variable to keep track of the calibration health */
   int32_t faulty_calibration_counter = 0;
-  static constexpr int32_t MAX_FAULTY_CALIB = 100;
+  /* with a sampling frequency of 100 Hz this yields 1s */
+  static constexpr int32_t kMaxFaultyCalib = 100;
 
   /* Gyro Calib tag */
   bool m_gyro_calibrated = false;