void controller_check_event(void)
{
    switch(state)
    {
    case WAIT_FOR_MISSION:
        if(NRF24L01P_receive() == 0)
        {
            if(rx_packet[0] == 0xFF)
            {
                tx_packet[0] = 0xFF;
                tx_packet[1] = 0x02;
                printf("MISSION_START:%u\n",NRF24L01P_send());
                state = WAIT_FOR_LAUNCH;
            }
        }
        break;
    case WAIT_FOR_LAUNCH:
        if(modulus(ins.acc)>1.2*g)
        {
            //发射事件
            ind.t0 = HAL_GetTick();
            tx_packet[0] = 0xFF;
            tx_packet[1] = 0x03;
            printf("LAUNCH:%u\n",NRF24L01P_send());
            state = RISE;
        }
        break;
    case RISE:
        //设定硬性时间标准，防止发射后因为震动立刻开伞
        if(ind.velocity[2] < 0 && ind.Delta_t > 500)
        {
            //到轨迹顶端，开伞
            parachute_open();
            tx_packet[0] = 0xFF;
            tx_packet[1] = 0x04;
            printf("PARACHUTE_DEPLOY:%u\n",NRF24L01P_send());
            state = FALL; 
        }
        break;
    case FALL:
        if(fabs(modulus(ins.acc) - g) < DELTA_a && modulus(ins.gyro) < DELTA_g)
        {
            //落地
            tx_packet[0] = 0xFF;
            tx_packet[1] = 0x05;
            printf("LANDING:%u\n",NRF24L01P_send());
            state = BACK_TO_GROUND;
        }
        break;
    default:
        break;
    }
}

这部分是判断火箭状态以及开伞的代码，来自Flight_Controler0的controller.c，用了状态机，可以看状态转移的条件。