X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_flight.c;h=8553ccc5854f8f4d27569e1ae8928aaf7fef63da;hb=7f46240dfc57164f0c1b0c4c4ed9695bca63860d;hp=c5069158a61cc603914566a4917608a54a300be3;hpb=d779d8e5b1106aaec6170761e6f5bd4e8d5ac6e7;p=fw%2Faltos diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c index c5069158..8553ccc5 100644 --- a/src/kernel/ao_flight.c +++ b/src/kernel/ao_flight.c @@ -50,8 +50,8 @@ /* Main flight thread. */ enum ao_flight_state ao_flight_state; /* current flight state */ -uint16_t ao_boost_tick; /* time of most recent boost detect */ -uint16_t ao_launch_tick; /* time of first boost detect */ +AO_TICK_TYPE ao_boost_tick; /* time of most recent boost detect */ +AO_TICK_TYPE ao_launch_tick; /* time of first boost detect */ uint16_t ao_motor_number; /* number of motors burned so far */ #if HAS_SENSOR_ERRORS @@ -102,6 +102,10 @@ uint8_t ao_flight_force_idle; #define abs(a) ((a) < 0 ? -(a) : (a)) +#if !HAS_BARO +// #define DEBUG_ACCEL_ONLY 1 +#endif + void ao_flight(void) { @@ -127,8 +131,8 @@ ao_flight(void) #if HAS_ACCEL if (ao_config.accel_plus_g == 0 || ao_config.accel_minus_g == 0 || - ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP || - ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP + ao_ground_accel < (accel_t) ao_config.accel_plus_g - ACCEL_NOSE_UP || + ao_ground_accel > (accel_t) ao_config.accel_minus_g + ACCEL_NOSE_UP #if HAS_BARO || ao_ground_height < -1000 || ao_ground_height > 7000 @@ -200,6 +204,15 @@ ao_flight(void) ao_wakeup(&ao_flight_state); break; + +#if DEBUG_ACCEL_ONLY + case ao_flight_invalid: + case ao_flight_idle: + printf("+g %d ga %d sa %d accel %ld speed %ld\n", + ao_config.accel_plus_g, ao_ground_accel, ao_sample_accel, ao_accel, ao_speed); + break; +#endif + case ao_flight_pad: /* pad to boost: * @@ -216,12 +229,14 @@ ao_flight(void) */ if (ao_height > AO_M_TO_HEIGHT(20) #if HAS_ACCEL - || (ao_accel > AO_MSS_TO_ACCEL(20) && - ao_speed > AO_MS_TO_SPEED(5)) + || (ao_accel > AO_MSS_TO_ACCEL(20) + && ao_speed > AO_MS_TO_SPEED(5)) #endif ) { ao_flight_state = ao_flight_boost; + ao_wakeup(&ao_flight_state); + ao_launch_tick = ao_boost_tick = ao_sample_tick; /* start logging data */ @@ -242,8 +257,6 @@ ao_flight(void) ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING; ao_wakeup(&ao_gps_new); #endif - - ao_wakeup(&ao_flight_state); } break; case ao_flight_boost: @@ -259,7 +272,7 @@ ao_flight(void) * (15 seconds) has past. */ if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) || - (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX) + (AO_TICK_SIGNED) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX) { #if HAS_ACCEL #if HAS_BARO @@ -278,8 +291,8 @@ ao_flight(void) #else ao_flight_state = ao_flight_coast; #endif - ++ao_motor_number; ao_wakeup(&ao_flight_state); + ++ao_motor_number; } break; #if HAS_ACCEL && HAS_BARO @@ -306,7 +319,7 @@ ao_flight(void) * number of seconds. */ if (ao_config.apogee_lockout) { - if ((int16_t) (ao_sample_tick - ao_launch_tick) < + if ((AO_TICK_SIGNED) (ao_sample_tick - ao_launch_tick) < AO_SEC_TO_TICKS(ao_config.apogee_lockout)) break; } @@ -327,11 +340,9 @@ ao_flight(void) #endif ) { -#if HAS_IGNITE - /* ignite the drogue charge */ - ao_ignite(ao_igniter_drogue); -#endif - + /* enter drogue state */ + ao_flight_state = ao_flight_drogue; + ao_wakeup(&ao_flight_state); #if HAS_TELEMETRY /* slow down the telemetry system */ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER); @@ -339,10 +350,6 @@ ao_flight(void) /* Turn the RDF beacon back on */ ao_rdf_set(1); #endif - - /* and enter drogue state */ - ao_flight_state = ao_flight_drogue; - ao_wakeup(&ao_flight_state); } else #else /* not HAS_BARO */ @@ -356,18 +363,17 @@ ao_flight(void) #define MAX_QUIET_ACCEL 2 - if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) { + if ((AO_TICK_SIGNED) (ao_sample_tick - ao_interval_end) >= 0) { if (ao_interval_max_accel_along - ao_interval_min_accel_along <= ao_data_accel_to_sample(MAX_QUIET_ACCEL) && ao_interval_max_accel_across - ao_interval_min_accel_across <= ao_data_accel_to_sample(MAX_QUIET_ACCEL) && ao_interval_max_accel_through - ao_interval_min_accel_through <= ao_data_accel_to_sample(MAX_QUIET_ACCEL)) { ao_flight_state = ao_flight_landed; + ao_wakeup(&ao_flight_state); #if HAS_ADC /* turn off the ADC capture */ ao_timer_set_adc_interval(0); #endif - - ao_wakeup(&ao_flight_state); } /* Reset interval values */ @@ -410,9 +416,8 @@ ao_flight(void) */ if (ao_height <= ao_config.main_deploy) { -#if HAS_IGNITE - ao_ignite(ao_igniter_main); -#endif + ao_flight_state = ao_flight_main; + ao_wakeup(&ao_flight_state); /* * Start recording min/max height @@ -423,9 +428,6 @@ ao_flight(void) ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; ao_interval_min_height = ao_interval_max_height = ao_avg_height; - - ao_flight_state = ao_flight_main; - ao_wakeup(&ao_flight_state); } break; @@ -441,17 +443,15 @@ ao_flight(void) if (ao_avg_height > ao_interval_max_height) ao_interval_max_height = ao_avg_height; - if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) { + if ((AO_TICK_SIGNED) (ao_sample_tick - ao_interval_end) >= 0) { if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4)) { ao_flight_state = ao_flight_landed; - + ao_wakeup(&ao_flight_state); #if HAS_ADC /* turn off the ADC capture */ ao_timer_set_adc_interval(0); #endif - - ao_wakeup(&ao_flight_state); } ao_interval_min_height = ao_interval_max_height = ao_avg_height; ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; @@ -461,7 +461,7 @@ ao_flight(void) #if HAS_FLIGHT_DEBUG case ao_flight_test: #if HAS_GYRO - printf ("angle %4d pitch %7d yaw %7d roll %7d\n", + printf ("angle %4d pitch %7ld yaw %7ld roll %7ld\n", ao_sample_orient, ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9, ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9, @@ -492,14 +492,14 @@ ao_flight_dump(void) printf ("sample:\n"); printf (" tick %d\n", ao_sample_tick); #if HAS_BARO - printf (" raw pres %d\n", ao_sample_pres); + printf (" raw pres %ld\n", ao_sample_pres); #endif #if HAS_ACCEL printf (" raw accel %d\n", ao_sample_accel); #endif #if HAS_BARO - printf (" ground pres %d\n", ao_ground_pres); - printf (" ground alt %d\n", ao_ground_height); + printf (" ground pres %ld\n", ao_ground_pres); + printf (" ground alt %ld\n", ao_ground_height); #endif #if HAS_ACCEL printf (" raw accel %d\n", ao_sample_accel); @@ -508,8 +508,8 @@ ao_flight_dump(void) #endif #if HAS_BARO - printf (" alt %d\n", ao_sample_alt); - printf (" height %d\n", ao_sample_height); + printf (" alt %ld\n", ao_sample_alt); + printf (" height %ld\n", ao_sample_height); #endif #if HAS_ACCEL @@ -518,12 +518,12 @@ ao_flight_dump(void) printf ("kalman:\n"); - printf (" height %d\n", ao_height); + printf (" height %ld\n", ao_height); printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed)); printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel)); - printf (" max_height %d\n", ao_max_height); - printf (" avg_height %d\n", ao_avg_height); - printf (" error_h %d\n", ao_error_h); + printf (" max_height %ld\n", ao_max_height); + printf (" avg_height %ld\n", ao_avg_height); + printf (" error_h %ld\n", ao_error_h); #if !HAS_ACCEL printf (" error_avg %d\n", ao_error_h_sq_avg); #endif @@ -543,6 +543,7 @@ static void ao_orient_test_select(void) { ao_orient_test = !ao_orient_test; + printf("orient test %d\n", ao_orient_test); } const struct ao_cmds ao_flight_cmds[] = {