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 #error Please define HAS_ACCEL
28 #error Please define HAS_GPS
32 #error Please define HAS_USB
36 #define HAS_TELEMETRY HAS_RADIO
39 /* Main flight thread. */
41 __pdata enum ao_flight_state ao_flight_state; /* current flight state */
42 __pdata uint16_t ao_boost_tick; /* time of launch detect */
45 * track min/max data over a long interval to detect
48 static __data uint16_t ao_interval_end;
49 static __data int16_t ao_interval_min_height;
50 static __data int16_t ao_interval_max_height;
52 static __data int16_t ao_coast_avg_accel;
55 __pdata uint8_t ao_flight_force_idle;
57 /* We also have a clock, which can be used to sanity check things in
58 * case of other failures
61 #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
63 /* Landing is detected by getting constant readings from both pressure and accelerometer
64 * for a fairly long time (AO_INTERVAL_TICKS)
66 #define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(10)
68 #define abs(a) ((a) < 0 ? -(a) : (a))
74 ao_flight_state = ao_flight_startup;
78 * Process ADC samples, just looping
79 * until the sensors are calibrated.
84 switch (ao_flight_state) {
85 case ao_flight_startup:
87 /* Check to see what mode we should go to.
88 * - Invalid mode if accel cal appears to be out
89 * - pad mode if we're upright,
90 * - idle mode otherwise
93 if (ao_config.accel_plus_g == 0 ||
94 ao_config.accel_minus_g == 0 ||
95 ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
96 ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
98 /* Detected an accel value outside -1.5g to 1.5g
99 * (or uncalibrated values), so we go into invalid mode
101 ao_flight_state = ao_flight_invalid;
103 #if HAS_RADIO && PACKET_HAS_SLAVE
104 /* Turn on packet system in invalid mode on TeleMetrum */
105 ao_packet_slave_start();
109 if (!ao_flight_force_idle
111 && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
115 /* Set pad mode - we can fly! */
116 ao_flight_state = ao_flight_pad;
117 #if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG
118 /* Disable the USB controller in flight mode
125 /* Disable packet mode in pad state on TeleMini */
126 ao_packet_slave_stop();
130 /* Turn on telemetry system */
132 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
134 /* signal successful initialization by turning off the LED */
135 ao_led_off(AO_LED_RED);
138 ao_flight_state = ao_flight_idle;
140 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
141 /* Turn on packet system in idle mode on TeleMetrum */
142 ao_packet_slave_start();
145 /* signal successful initialization by turning off the LED */
146 ao_led_off(AO_LED_RED);
148 /* wakeup threads due to state change */
149 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
156 * barometer: > 20m vertical motion
158 * accelerometer: > 2g AND velocity > 5m/s
160 * The accelerometer should always detect motion before
161 * the barometer, but we use both to make sure this
162 * transition is detected. If the device
163 * doesn't have an accelerometer, then ignore the
164 * speed and acceleration as they are quite noisy
167 if (ao_height > AO_M_TO_HEIGHT(20)
169 || (ao_accel > AO_MSS_TO_ACCEL(20) &&
170 ao_speed > AO_MS_TO_SPEED(5))
174 ao_flight_state = ao_flight_boost;
175 ao_boost_tick = ao_sample_tick;
177 /* start logging data */
181 /* Increase telemetry rate */
182 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
184 /* disable RDF beacon */
189 /* Record current GPS position by waking up GPS log tasks */
190 ao_wakeup(&ao_gps_data);
191 ao_wakeup(&ao_gps_tracking_data);
194 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
197 case ao_flight_boost:
201 * accelerometer: start to fall at > 1/4 G
203 * time: boost for more than 15 seconds
205 * Detects motor burn out by the switch from acceleration to
206 * deceleration, or by waiting until the maximum burn duration
207 * (15 seconds) has past.
209 if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
210 (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
213 ao_flight_state = ao_flight_fast;
214 ao_coast_avg_accel = ao_accel;
216 ao_flight_state = ao_flight_coast;
218 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
224 * This is essentially the same as coast,
225 * but the barometer is being ignored as
226 * it may be unreliable.
228 if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
230 ao_flight_state = ao_flight_coast;
231 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
236 case ao_flight_coast:
239 * By customer request - allow the user
240 * to lock out apogee detection for a specified
243 if (ao_config.apogee_lockout) {
244 if ((ao_sample_tick - ao_boost_tick) <
245 AO_SEC_TO_TICKS(ao_config.apogee_lockout))
249 /* apogee detect: coast to drogue deploy:
253 * Also make sure the model altitude is tracking
254 * the measured altitude reasonably closely; otherwise
255 * we're probably transsonic.
259 && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
264 /* ignite the drogue charge */
265 ao_ignite(ao_igniter_drogue);
269 /* slow down the telemetry system */
270 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
272 /* Turn the RDF beacon back on */
276 /* and enter drogue state */
277 ao_flight_state = ao_flight_drogue;
278 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
283 ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
284 if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
285 ao_boost_tick = ao_sample_tick;
286 ao_flight_state = ao_flight_boost;
287 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
293 case ao_flight_drogue:
295 /* drogue to main deploy:
297 * barometer: reach main deploy altitude
299 * Would like to use the accelerometer for this test, but
300 * the orientation of the flight computer is unknown after
301 * drogue deploy, so we ignore it. Could also detect
302 * high descent rate using the pressure sensor to
303 * recognize drogue deploy failure and eject the main
304 * at that point. Perhaps also use the drogue sense lines
305 * to notice continutity?
307 if (ao_height <= ao_config.main_deploy)
310 ao_ignite(ao_igniter_main);
314 * Start recording min/max height
315 * to figure out when the rocket has landed
318 /* initialize interval values */
319 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
321 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
323 ao_flight_state = ao_flight_main;
324 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
328 /* fall through... */
333 * barometer: altitude stable
336 if (ao_avg_height < ao_interval_min_height)
337 ao_interval_min_height = ao_avg_height;
338 if (ao_avg_height > ao_interval_max_height)
339 ao_interval_max_height = ao_avg_height;
341 if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
342 if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
344 ao_flight_state = ao_flight_landed;
346 /* turn off the ADC capture */
347 ao_timer_set_adc_interval(0);
349 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
351 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
352 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
362 static inline int int_part(int16_t i) { return i >> 4; }
363 static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; }
371 accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16;
374 printf ("sample:\n");
375 printf (" tick %d\n", ao_sample_tick);
376 printf (" raw pres %d\n", ao_sample_pres);
378 printf (" raw accel %d\n", ao_sample_accel);
380 printf (" ground pres %d\n", ao_ground_pres);
381 printf (" ground alt %d\n", ao_ground_height);
383 printf (" raw accel %d\n", ao_sample_accel);
384 printf (" groundaccel %d\n", ao_ground_accel);
385 printf (" accel_2g %d\n", ao_accel_2g);
388 printf (" alt %d\n", ao_sample_alt);
389 printf (" height %d\n", ao_sample_height);
391 printf (" accel %d.%02d\n", int_part(accel), frac_part(accel));
395 printf ("kalman:\n");
396 printf (" height %d\n", ao_height);
397 printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
398 printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
399 printf (" max_height %d\n", ao_max_height);
400 printf (" avg_height %d\n", ao_avg_height);
401 printf (" error_h %d\n", ao_error_h);
402 printf (" error_avg %d\n", ao_error_h_sq_avg);
405 __code struct ao_cmds ao_flight_cmds[] = {
406 { ao_flight_dump, "F\0Dump flight status" },
411 static __xdata struct ao_task flight_task;
416 ao_flight_state = ao_flight_startup;
418 ao_cmd_register(&ao_flight_cmds[0]);
420 ao_add_task(&flight_task, ao_flight, "flight");