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 /* Any sensor can set this to mark the flight computer as 'broken' */
51 __xdata uint8_t ao_sensor_errors;
55 * track min/max data over a long interval to detect
58 static __data uint16_t ao_interval_end;
59 static __data int16_t ao_interval_min_height;
60 static __data int16_t ao_interval_max_height;
62 static __data int16_t ao_coast_avg_accel;
65 __pdata uint8_t ao_flight_force_idle;
67 /* We also have a clock, which can be used to sanity check things in
68 * case of other failures
71 #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
73 /* Landing is detected by getting constant readings from both pressure and accelerometer
74 * for a fairly long time (AO_INTERVAL_TICKS)
76 #define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(10)
78 #define abs(a) ((a) < 0 ? -(a) : (a))
84 ao_flight_state = ao_flight_startup;
88 * Process ADC samples, just looping
89 * until the sensors are calibrated.
94 switch (ao_flight_state) {
95 case ao_flight_startup:
97 /* Check to see what mode we should go to.
98 * - Invalid mode if accel cal appears to be out
99 * - pad mode if we're upright,
100 * - idle mode otherwise
103 if (ao_config.accel_plus_g == 0 ||
104 ao_config.accel_minus_g == 0 ||
105 ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
106 ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
107 ao_ground_height < -1000 ||
108 ao_ground_height > 7000)
110 /* Detected an accel value outside -1.5g to 1.5g
111 * (or uncalibrated values), so we go into invalid mode
113 ao_flight_state = ao_flight_invalid;
115 #if HAS_RADIO && PACKET_HAS_SLAVE
116 /* Turn on packet system in invalid mode on TeleMetrum */
117 ao_packet_slave_start();
121 if (!ao_flight_force_idle
123 && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
127 /* Set pad mode - we can fly! */
128 ao_flight_state = ao_flight_pad;
129 #if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
130 /* Disable the USB controller in flight mode
136 #if !HAS_ACCEL && PACKET_HAS_SLAVE
137 /* Disable packet mode in pad state on TeleMini */
138 ao_packet_slave_stop();
142 /* Turn on telemetry system */
144 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
147 /* signal successful initialization by turning off the LED */
148 ao_led_off(AO_LED_RED);
152 ao_flight_state = ao_flight_idle;
153 #if HAS_SENSOR_ERRORS
154 if (ao_sensor_errors)
155 ao_flight_state = ao_flight_invalid;
158 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
159 /* Turn on packet system in idle mode on TeleMetrum */
160 ao_packet_slave_start();
164 /* signal successful initialization by turning off the LED */
165 ao_led_off(AO_LED_RED);
168 /* wakeup threads due to state change */
169 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
176 * barometer: > 20m vertical motion
178 * accelerometer: > 2g AND velocity > 5m/s
180 * The accelerometer should always detect motion before
181 * the barometer, but we use both to make sure this
182 * transition is detected. If the device
183 * doesn't have an accelerometer, then ignore the
184 * speed and acceleration as they are quite noisy
187 if (ao_height > AO_M_TO_HEIGHT(20)
189 || (ao_accel > AO_MSS_TO_ACCEL(20) &&
190 ao_speed > AO_MS_TO_SPEED(5))
194 ao_flight_state = ao_flight_boost;
195 ao_boost_tick = ao_sample_tick;
197 /* start logging data */
201 /* Increase telemetry rate */
202 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
204 /* disable RDF beacon */
209 /* Record current GPS position by waking up GPS log tasks */
210 ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
211 ao_wakeup(&ao_gps_new);
214 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
217 case ao_flight_boost:
221 * accelerometer: start to fall at > 1/4 G
223 * time: boost for more than 15 seconds
225 * Detects motor burn out by the switch from acceleration to
226 * deceleration, or by waiting until the maximum burn duration
227 * (15 seconds) has past.
229 if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
230 (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
233 ao_flight_state = ao_flight_fast;
234 ao_coast_avg_accel = ao_accel;
236 ao_flight_state = ao_flight_coast;
239 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
245 * This is essentially the same as coast,
246 * but the barometer is being ignored as
247 * it may be unreliable.
249 if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
251 ao_flight_state = ao_flight_coast;
252 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
257 case ao_flight_coast:
260 * By customer request - allow the user
261 * to lock out apogee detection for a specified
264 if (ao_config.apogee_lockout) {
265 if ((ao_sample_tick - ao_boost_tick) <
266 AO_SEC_TO_TICKS(ao_config.apogee_lockout))
270 /* apogee detect: coast to drogue deploy:
274 * Also make sure the model altitude is tracking
275 * the measured altitude reasonably closely; otherwise
276 * we're probably transsonic.
280 && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
285 /* ignite the drogue charge */
286 ao_ignite(ao_igniter_drogue);
290 /* slow down the telemetry system */
291 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
293 /* Turn the RDF beacon back on */
297 /* and enter drogue state */
298 ao_flight_state = ao_flight_drogue;
299 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
304 ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
305 if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
306 ao_boost_tick = ao_sample_tick;
307 ao_flight_state = ao_flight_boost;
308 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
314 case ao_flight_drogue:
316 /* drogue to main deploy:
318 * barometer: reach main deploy altitude
320 * Would like to use the accelerometer for this test, but
321 * the orientation of the flight computer is unknown after
322 * drogue deploy, so we ignore it. Could also detect
323 * high descent rate using the pressure sensor to
324 * recognize drogue deploy failure and eject the main
325 * at that point. Perhaps also use the drogue sense lines
326 * to notice continutity?
328 if (ao_height <= ao_config.main_deploy)
331 ao_ignite(ao_igniter_main);
335 * Start recording min/max height
336 * to figure out when the rocket has landed
339 /* initialize interval values */
340 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
342 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
344 ao_flight_state = ao_flight_main;
345 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
349 /* fall through... */
354 * barometer: altitude stable
357 if (ao_avg_height < ao_interval_min_height)
358 ao_interval_min_height = ao_avg_height;
359 if (ao_avg_height > ao_interval_max_height)
360 ao_interval_max_height = ao_avg_height;
362 if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
363 if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
365 ao_flight_state = ao_flight_landed;
367 /* turn off the ADC capture */
368 ao_timer_set_adc_interval(0);
370 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
372 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
373 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
379 printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
381 ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
382 ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
383 ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
387 #endif /* HAS_FLIGHT_DEBUG */
395 static inline int int_part(int16_t i) { return i >> 4; }
396 static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; }
404 accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
407 printf ("sample:\n");
408 printf (" tick %d\n", ao_sample_tick);
409 printf (" raw pres %d\n", ao_sample_pres);
411 printf (" raw accel %d\n", ao_sample_accel);
413 printf (" ground pres %d\n", ao_ground_pres);
414 printf (" ground alt %d\n", ao_ground_height);
416 printf (" raw accel %d\n", ao_sample_accel);
417 printf (" groundaccel %d\n", ao_ground_accel);
418 printf (" accel_2g %d\n", ao_accel_2g);
421 printf (" alt %d\n", ao_sample_alt);
422 printf (" height %d\n", ao_sample_height);
424 printf (" accel %d.%02d\n", int_part(accel), frac_part(accel));
428 printf ("kalman:\n");
429 printf (" height %d\n", ao_height);
430 printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
431 printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
432 printf (" max_height %d\n", ao_max_height);
433 printf (" avg_height %d\n", ao_avg_height);
434 printf (" error_h %d\n", ao_error_h);
435 printf (" error_avg %d\n", ao_error_h_sq_avg);
441 ao_flight_state = ao_flight_test;
443 ao_flight_state = ao_flight_idle;
446 uint8_t ao_orient_test;
449 ao_orient_test_select(void)
451 ao_orient_test = !ao_orient_test;
454 __code struct ao_cmds ao_flight_cmds[] = {
455 { ao_flight_dump, "F\0Dump flight status" },
456 { ao_gyro_test, "G\0Test gyro code" },
457 { ao_orient_test_select,"O\0Test orientation code" },
462 static __xdata struct ao_task flight_task;
467 ao_flight_state = ao_flight_startup;
469 ao_cmd_register(&ao_flight_cmds[0]);
471 ao_add_task(&flight_task, ao_flight, "flight");