Flight Phase

Assignee: Shiming

States

  • Idle

  • Pad Filter

  • Boost

  • Actuation Allowed

  • Recovery (actuation still allowed)

  • Landed

Key Changes (2026)

  • Boost entry uses acceleration threshold as a criterion in addition to CAN events.

  • Boost → Actuation Allowed: sensor-triggered using velocity (estimator) or falling acceleration within a time window [P, Q].

  • Actuation Allowed → Recovery: sensor-triggered when vertical velocity drops below threshold within [R, S].

  • New Landed state enables safe termination of logging after time K.

Implementation Notes

  • Use a state queue and event queue (mutex-like behavior is sufficient).

  • Record the Boost start time; compare each iteration for scheduled transitions.

  • Disallow Init → Boost; require Pad Filter before Boost to avoid false triggers while transporting.