X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_flight.c;fp=src%2Fkernel%2Fao_flight.c;h=24099347ce4466589592c4d49ffc78775de867fe;hp=0000000000000000000000000000000000000000;hb=24167015705ae831692b95735968b04a876f935e;hpb=bb9fdef607728cc326a82aa632e59724f272e53b

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
new file mode 100644
index 00000000..24099347
--- /dev/null
+++ b/src/kernel/ao_flight.c
@@ -0,0 +1,472 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef AO_FLIGHT_TEST
+#include "ao.h"
+#include <ao_log.h>
+#endif
+
+#if HAS_MPU6000
+#include <ao_quaternion.h>
+#endif
+
+#ifndef HAS_ACCEL
+#error Please define HAS_ACCEL
+#endif
+
+#ifndef HAS_GPS
+#error Please define HAS_GPS
+#endif
+
+#ifndef HAS_USB
+#error Please define HAS_USB
+#endif
+
+#ifndef HAS_TELEMETRY
+#define HAS_TELEMETRY	HAS_RADIO
+#endif
+
+/* Main flight thread. */
+
+__pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
+__pdata uint16_t		ao_boost_tick;		/* time of launch detect */
+__pdata uint16_t		ao_motor_number;	/* number of motors burned so far */
+
+#if HAS_SENSOR_ERRORS
+/* Any sensor can set this to mark the flight computer as 'broken' */
+__xdata uint8_t			ao_sensor_errors;
+#endif
+
+/*
+ * track min/max data over a long interval to detect
+ * resting
+ */
+static __data uint16_t		ao_interval_end;
+static __data int16_t		ao_interval_min_height;
+static __data int16_t		ao_interval_max_height;
+#if HAS_ACCEL
+static __data int16_t		ao_coast_avg_accel;
+#endif
+
+__pdata uint8_t			ao_flight_force_idle;
+
+/* We also have a clock, which can be used to sanity check things in
+ * case of other failures
+ */
+
+#define BOOST_TICKS_MAX	AO_SEC_TO_TICKS(15)
+
+/* Landing is detected by getting constant readings from both pressure and accelerometer
+ * for a fairly long time (AO_INTERVAL_TICKS)
+ */
+#define AO_INTERVAL_TICKS	AO_SEC_TO_TICKS(10)
+
+#define abs(a)	((a) < 0 ? -(a) : (a))
+
+void
+ao_flight(void)
+{
+	ao_sample_init();
+	ao_flight_state = ao_flight_startup;
+	for (;;) {
+
+		/*
+		 * Process ADC samples, just looping
+		 * until the sensors are calibrated.
+		 */
+		if (!ao_sample())
+			continue;
+
+		switch (ao_flight_state) {
+		case ao_flight_startup:
+
+			/* Check to see what mode we should go to.
+			 *  - Invalid mode if accel cal appears to be out
+			 *  - pad mode if we're upright,
+			 *  - idle mode otherwise
+			 */
+#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_height < -1000 ||
+			    ao_ground_height > 7000)
+			{
+				/* Detected an accel value outside -1.5g to 1.5g
+				 * (or uncalibrated values), so we go into invalid mode
+				 */
+				ao_flight_state = ao_flight_invalid;
+
+#if HAS_RADIO && PACKET_HAS_SLAVE
+				/* Turn on packet system in invalid mode on TeleMetrum */
+				ao_packet_slave_start();
+#endif
+			} else
+#endif
+				if (!ao_flight_force_idle
+#if HAS_ACCEL
+				    && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
+#endif
+					)
+ 			{
+				/* Set pad mode - we can fly! */
+				ao_flight_state = ao_flight_pad;
+#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
+				/* Disable the USB controller in flight mode
+				 * to save power
+				 */
+				ao_usb_disable();
+#endif
+
+#if !HAS_ACCEL && PACKET_HAS_SLAVE
+				/* Disable packet mode in pad state on TeleMini */
+				ao_packet_slave_stop();
+#endif
+
+#if HAS_TELEMETRY
+				/* Turn on telemetry system */
+				ao_rdf_set(1);
+				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
+#endif
+#if AO_LED_RED
+				/* signal successful initialization by turning off the LED */
+				ao_led_off(AO_LED_RED);
+#endif
+			} else {
+				/* Set idle mode */
+				ao_flight_state = ao_flight_idle;
+#if HAS_SENSOR_ERRORS
+				if (ao_sensor_errors)
+					ao_flight_state = ao_flight_invalid;
+#endif
+ 
+#if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
+				/* Turn on packet system in idle mode on TeleMetrum */
+				ao_packet_slave_start();
+#endif
+
+#if AO_LED_RED
+				/* signal successful initialization by turning off the LED */
+				ao_led_off(AO_LED_RED);
+#endif
+			}
+			/* wakeup threads due to state change */
+			ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+
+			break;
+		case ao_flight_pad:
+
+			/* pad to boost:
+			 *
+			 * barometer: > 20m vertical motion
+			 *             OR
+			 * accelerometer: > 2g AND velocity > 5m/s
+			 *
+			 * The accelerometer should always detect motion before
+			 * the barometer, but we use both to make sure this
+			 * transition is detected. If the device
+			 * doesn't have an accelerometer, then ignore the
+			 * speed and acceleration as they are quite noisy
+			 * on the pad.
+			 */
+			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))
+#endif
+				)
+			{
+				ao_flight_state = ao_flight_boost;
+				ao_boost_tick = ao_sample_tick;
+
+				/* start logging data */
+				ao_log_start();
+
+#if HAS_TELEMETRY
+				/* Increase telemetry rate */
+				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
+
+				/* disable RDF beacon */
+				ao_rdf_set(0);
+#endif
+
+#if HAS_GPS
+				/* Record current GPS position by waking up GPS log tasks */
+				ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
+				ao_wakeup(&ao_gps_new);
+#endif
+
+				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+			}
+			break;
+		case ao_flight_boost:
+
+			/* boost to fast:
+			 *
+			 * accelerometer: start to fall at > 1/4 G
+			 *              OR
+			 * time: boost for more than 15 seconds
+			 *
+			 * Detects motor burn out by the switch from acceleration to
+			 * deceleration, or by waiting until the maximum burn duration
+			 * (15 seconds) has past.
+			 */
+			if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
+			    (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
+			{
+#if HAS_ACCEL
+				ao_flight_state = ao_flight_fast;
+				ao_coast_avg_accel = ao_accel;
+#else
+				ao_flight_state = ao_flight_coast;
+#endif
+				++ao_motor_number;
+				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+			}
+			break;
+#if HAS_ACCEL
+		case ao_flight_fast:
+			/*
+			 * This is essentially the same as coast,
+			 * but the barometer is being ignored as
+			 * it may be unreliable.
+			 */
+			if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
+			{
+				ao_flight_state = ao_flight_coast;
+				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+			} else
+				goto check_re_boost;
+			break;
+#endif
+		case ao_flight_coast:
+
+			/*
+			 * By customer request - allow the user
+			 * to lock out apogee detection for a specified
+			 * number of seconds.
+			 */
+			if (ao_config.apogee_lockout) {
+				if ((ao_sample_tick - ao_boost_tick) <
+				    AO_SEC_TO_TICKS(ao_config.apogee_lockout))
+					break;
+			}
+
+			/* apogee detect: coast to drogue deploy:
+			 *
+			 * speed: < 0
+			 *
+			 * Also make sure the model altitude is tracking
+			 * the measured altitude reasonably closely; otherwise
+			 * we're probably transsonic.
+			 */
+			if (ao_speed < 0
+#if !HAS_ACCEL
+			    && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
+#endif
+				)
+			{
+#if HAS_IGNITE
+				/* ignite the drogue charge */
+				ao_ignite(ao_igniter_drogue);
+#endif
+
+#if HAS_TELEMETRY
+				/* slow down the telemetry system */
+				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
+
+				/* Turn the RDF beacon back on */
+				ao_rdf_set(1);
+#endif
+
+				/* and enter drogue state */
+				ao_flight_state = ao_flight_drogue;
+				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+			}
+#if HAS_ACCEL
+			else {
+			check_re_boost:
+				ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
+				if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
+					ao_boost_tick = ao_sample_tick;
+					ao_flight_state = ao_flight_boost;
+					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				}
+			}
+#endif
+
+			break;
+		case ao_flight_drogue:
+
+			/* drogue to main deploy:
+			 *
+			 * barometer: reach main deploy altitude
+			 *
+			 * Would like to use the accelerometer for this test, but
+			 * the orientation of the flight computer is unknown after
+			 * drogue deploy, so we ignore it. Could also detect
+			 * high descent rate using the pressure sensor to
+			 * recognize drogue deploy failure and eject the main
+			 * at that point. Perhaps also use the drogue sense lines
+			 * to notice continutity?
+			 */
+			if (ao_height <= ao_config.main_deploy)
+			{
+#if HAS_IGNITE
+				ao_ignite(ao_igniter_main);
+#endif
+
+				/*
+				 * Start recording min/max height
+				 * to figure out when the rocket has landed
+				 */
+
+				/* initialize interval values */
+				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(DATA_TO_XDATA(&ao_flight_state));
+			}
+			break;
+
+			/* fall through... */
+		case ao_flight_main:
+
+			/* main to land:
+			 *
+			 * barometer: altitude stable
+			 */
+
+			if (ao_avg_height < ao_interval_min_height)
+				ao_interval_min_height = ao_avg_height;
+			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_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
+				{
+					ao_flight_state = ao_flight_landed;
+
+					/* turn off the ADC capture */
+					ao_timer_set_adc_interval(0);
+
+					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				}
+				ao_interval_min_height = ao_interval_max_height = ao_avg_height;
+				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
+			}
+			break;
+#if HAS_FLIGHT_DEBUG
+		case ao_flight_test:
+#if HAS_GYRO
+			printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
+				ao_sample_orient,
+				((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
+				((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
+				((ao_sample_roll << 9) - ao_ground_roll) >> 9);
+#endif
+			flush();
+			break;
+#endif /* HAS_FLIGHT_DEBUG */
+		default:
+			break;
+		}
+	}
+}
+
+#if HAS_FLIGHT_DEBUG
+static inline int int_part(int16_t i)	{ return i >> 4; }
+static inline int frac_part(int16_t i)	{ return ((i & 0xf) * 100 + 8) / 16; }
+
+static void
+ao_flight_dump(void)
+{
+#if HAS_ACCEL
+	int16_t	accel;
+
+	accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
+#endif
+
+	printf ("sample:\n");
+	printf ("  tick        %d\n", ao_sample_tick);
+	printf ("  raw pres    %d\n", ao_sample_pres);
+#if HAS_ACCEL
+	printf ("  raw accel   %d\n", ao_sample_accel);
+#endif
+	printf ("  ground pres %d\n", ao_ground_pres);
+	printf ("  ground alt  %d\n", ao_ground_height);
+#if HAS_ACCEL
+	printf ("  raw accel   %d\n", ao_sample_accel);
+	printf ("  groundaccel %d\n", ao_ground_accel);
+	printf ("  accel_2g    %d\n", ao_accel_2g);
+#endif
+
+	printf ("  alt         %d\n", ao_sample_alt);
+	printf ("  height      %d\n", ao_sample_height);
+#if HAS_ACCEL
+	printf ("  accel       %d.%02d\n", int_part(accel), frac_part(accel));
+#endif
+
+
+	printf ("kalman:\n");
+	printf ("  height      %d\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 ("  error_avg   %d\n", ao_error_h_sq_avg);
+}
+
+static void
+ao_gyro_test(void)
+{
+	ao_flight_state = ao_flight_test;
+	ao_getchar();
+	ao_flight_state = ao_flight_idle;
+}
+
+uint8_t ao_orient_test;
+
+static void
+ao_orient_test_select(void)
+{
+	ao_orient_test = !ao_orient_test;
+}
+
+__code struct ao_cmds ao_flight_cmds[] = {
+	{ ao_flight_dump, 	"F\0Dump flight status" },
+	{ ao_gyro_test,		"G\0Test gyro code" },
+	{ ao_orient_test_select,"O\0Test orientation code" },
+	{ 0, NULL },
+};
+#endif
+
+static __xdata struct ao_task	flight_task;
+
+void
+ao_flight_init(void)
+{
+	ao_flight_state = ao_flight_startup;
+#if HAS_FLIGHT_DEBUG
+	ao_cmd_register(&ao_flight_cmds[0]);
+#endif
+	ao_add_task(&flight_task, ao_flight, "flight");
+}