2 * Copyright © 2009 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
18 #ifndef AO_FLIGHT_TEST
24 #include <ao_quaternion.h>
28 #error Please define HAS_ACCEL
32 #error Please define HAS_GPS
36 #error Please define HAS_USB
40 #define HAS_TELEMETRY HAS_RADIO
43 /* Main flight thread. */
45 __pdata enum ao_flight_state ao_flight_state; /* current flight state */
46 __pdata uint16_t ao_boost_tick; /* time of launch detect */
47 __pdata uint16_t ao_motor_number; /* number of motors burned so far */
50 * track min/max data over a long interval to detect
53 static __data uint16_t ao_interval_end;
54 static __data int16_t ao_interval_min_height;
55 static __data int16_t ao_interval_max_height;
57 static __data int16_t ao_coast_avg_accel;
60 __pdata uint8_t ao_flight_force_idle;
62 /* We also have a clock, which can be used to sanity check things in
63 * case of other failures
66 #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
68 /* Landing is detected by getting constant readings from both pressure and accelerometer
69 * for a fairly long time (AO_INTERVAL_TICKS)
71 #define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(10)
73 #define abs(a) ((a) < 0 ? -(a) : (a))
79 ao_flight_state = ao_flight_startup;
83 * Process ADC samples, just looping
84 * until the sensors are calibrated.
89 switch (ao_flight_state) {
90 case ao_flight_startup:
92 /* Check to see what mode we should go to.
93 * - Invalid mode if accel cal appears to be out
94 * - pad mode if we're upright,
95 * - idle mode otherwise
98 if (ao_config.accel_plus_g == 0 ||
99 ao_config.accel_minus_g == 0 ||
100 ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
101 ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
102 ao_ground_height < -1000 ||
103 ao_ground_height > 7000)
105 /* Detected an accel value outside -1.5g to 1.5g
106 * (or uncalibrated values), so we go into invalid mode
108 ao_flight_state = ao_flight_invalid;
110 #if HAS_RADIO && PACKET_HAS_SLAVE
111 /* Turn on packet system in invalid mode on TeleMetrum */
112 ao_packet_slave_start();
116 if (!ao_flight_force_idle
118 && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
122 /* Set pad mode - we can fly! */
123 ao_flight_state = ao_flight_pad;
124 #if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
125 /* Disable the USB controller in flight mode
131 #if !HAS_ACCEL && PACKET_HAS_SLAVE
132 /* Disable packet mode in pad state on TeleMini */
133 ao_packet_slave_stop();
137 /* Turn on telemetry system */
139 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
142 /* signal successful initialization by turning off the LED */
143 ao_led_off(AO_LED_RED);
147 ao_flight_state = ao_flight_idle;
149 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
150 /* Turn on packet system in idle mode on TeleMetrum */
151 ao_packet_slave_start();
155 /* signal successful initialization by turning off the LED */
156 ao_led_off(AO_LED_RED);
159 /* wakeup threads due to state change */
160 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
167 * barometer: > 20m vertical motion
169 * accelerometer: > 2g AND velocity > 5m/s
171 * The accelerometer should always detect motion before
172 * the barometer, but we use both to make sure this
173 * transition is detected. If the device
174 * doesn't have an accelerometer, then ignore the
175 * speed and acceleration as they are quite noisy
178 if (ao_height > AO_M_TO_HEIGHT(20)
180 || (ao_accel > AO_MSS_TO_ACCEL(20) &&
181 ao_speed > AO_MS_TO_SPEED(5))
185 ao_flight_state = ao_flight_boost;
186 ao_boost_tick = ao_sample_tick;
188 /* start logging data */
192 /* Increase telemetry rate */
193 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
195 /* disable RDF beacon */
200 /* Record current GPS position by waking up GPS log tasks */
201 ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
202 ao_wakeup(&ao_gps_new);
205 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
208 case ao_flight_boost:
212 * accelerometer: start to fall at > 1/4 G
214 * time: boost for more than 15 seconds
216 * Detects motor burn out by the switch from acceleration to
217 * deceleration, or by waiting until the maximum burn duration
218 * (15 seconds) has past.
220 if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
221 (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
224 ao_flight_state = ao_flight_fast;
225 ao_coast_avg_accel = ao_accel;
227 ao_flight_state = ao_flight_coast;
230 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
236 * This is essentially the same as coast,
237 * but the barometer is being ignored as
238 * it may be unreliable.
240 if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
242 ao_flight_state = ao_flight_coast;
243 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
248 case ao_flight_coast:
251 * By customer request - allow the user
252 * to lock out apogee detection for a specified
255 if (ao_config.apogee_lockout) {
256 if ((ao_sample_tick - ao_boost_tick) <
257 AO_SEC_TO_TICKS(ao_config.apogee_lockout))
261 /* apogee detect: coast to drogue deploy:
265 * Also make sure the model altitude is tracking
266 * the measured altitude reasonably closely; otherwise
267 * we're probably transsonic.
271 && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
276 /* ignite the drogue charge */
277 ao_ignite(ao_igniter_drogue);
281 /* slow down the telemetry system */
282 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
284 /* Turn the RDF beacon back on */
288 /* and enter drogue state */
289 ao_flight_state = ao_flight_drogue;
290 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
295 ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
296 if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
297 ao_boost_tick = ao_sample_tick;
298 ao_flight_state = ao_flight_boost;
299 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
305 case ao_flight_drogue:
307 /* drogue to main deploy:
309 * barometer: reach main deploy altitude
311 * Would like to use the accelerometer for this test, but
312 * the orientation of the flight computer is unknown after
313 * drogue deploy, so we ignore it. Could also detect
314 * high descent rate using the pressure sensor to
315 * recognize drogue deploy failure and eject the main
316 * at that point. Perhaps also use the drogue sense lines
317 * to notice continutity?
319 if (ao_height <= ao_config.main_deploy)
322 ao_ignite(ao_igniter_main);
326 * Start recording min/max height
327 * to figure out when the rocket has landed
330 /* initialize interval values */
331 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
333 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
335 ao_flight_state = ao_flight_main;
336 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
340 /* fall through... */
345 * barometer: altitude stable
348 if (ao_avg_height < ao_interval_min_height)
349 ao_interval_min_height = ao_avg_height;
350 if (ao_avg_height > ao_interval_max_height)
351 ao_interval_max_height = ao_avg_height;
353 if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
354 if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
356 ao_flight_state = ao_flight_landed;
358 /* turn off the ADC capture */
359 ao_timer_set_adc_interval(0);
361 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
363 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
364 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
370 printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
372 ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
373 ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
374 ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
378 #endif /* HAS_FLIGHT_DEBUG */
386 static inline int int_part(int16_t i) { return i >> 4; }
387 static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; }
395 accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16;
398 printf ("sample:\n");
399 printf (" tick %d\n", ao_sample_tick);
400 printf (" raw pres %d\n", ao_sample_pres);
402 printf (" raw accel %d\n", ao_sample_accel);
404 printf (" ground pres %d\n", ao_ground_pres);
405 printf (" ground alt %d\n", ao_ground_height);
407 printf (" raw accel %d\n", ao_sample_accel);
408 printf (" groundaccel %d\n", ao_ground_accel);
409 printf (" accel_2g %d\n", ao_accel_2g);
412 printf (" alt %d\n", ao_sample_alt);
413 printf (" height %d\n", ao_sample_height);
415 printf (" accel %d.%02d\n", int_part(accel), frac_part(accel));
419 printf ("kalman:\n");
420 printf (" height %d\n", ao_height);
421 printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
422 printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
423 printf (" max_height %d\n", ao_max_height);
424 printf (" avg_height %d\n", ao_avg_height);
425 printf (" error_h %d\n", ao_error_h);
426 printf (" error_avg %d\n", ao_error_h_sq_avg);
432 ao_flight_state = ao_flight_test;
434 ao_flight_state = ao_flight_idle;
437 __code struct ao_cmds ao_flight_cmds[] = {
438 { ao_flight_dump, "F\0Dump flight status" },
439 { ao_gyro_test, "G\0Test gyro code" },
444 static __xdata struct ao_task flight_task;
449 ao_flight_state = ao_flight_startup;
451 ao_cmd_register(&ao_flight_cmds[0]);
453 ao_add_task(&flight_task, ao_flight, "flight");