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;
51 static __data int16_t ao_coast_avg_accel;
53 __pdata uint8_t ao_flight_force_idle;
55 /* We also have a clock, which can be used to sanity check things in
56 * case of other failures
59 #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
61 /* Landing is detected by getting constant readings from both pressure and accelerometer
62 * for a fairly long time (AO_INTERVAL_TICKS)
64 #define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(10)
66 #define abs(a) ((a) < 0 ? -(a) : (a))
72 ao_flight_state = ao_flight_startup;
76 * Process ADC samples, just looping
77 * until the sensors are calibrated.
82 switch (ao_flight_state) {
83 case ao_flight_startup:
85 /* Check to see what mode we should go to.
86 * - Invalid mode if accel cal appears to be out
87 * - pad mode if we're upright,
88 * - idle mode otherwise
91 if (ao_config.accel_plus_g == 0 ||
92 ao_config.accel_minus_g == 0 ||
93 ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
94 ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
96 /* Detected an accel value outside -1.5g to 1.5g
97 * (or uncalibrated values), so we go into invalid mode
99 ao_flight_state = ao_flight_invalid;
101 #if HAS_RADIO && PACKET_HAS_SLAVE
102 /* Turn on packet system in invalid mode on TeleMetrum */
103 ao_packet_slave_start();
107 if (!ao_flight_force_idle
109 && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
113 /* Set pad mode - we can fly! */
114 ao_flight_state = ao_flight_pad;
115 #if HAS_USB && HAS_RADIO
116 /* Disable the USB controller in flight mode
123 /* Disable packet mode in pad state on TeleMini */
124 ao_packet_slave_stop();
128 /* Turn on telemetry system */
130 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
132 /* signal successful initialization by turning off the LED */
133 ao_led_off(AO_LED_RED);
136 ao_flight_state = ao_flight_idle;
138 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
139 /* Turn on packet system in idle mode on TeleMetrum */
140 ao_packet_slave_start();
143 /* signal successful initialization by turning off the LED */
144 ao_led_off(AO_LED_RED);
146 /* wakeup threads due to state change */
147 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
154 * barometer: > 20m vertical motion
156 * accelerometer: > 2g AND velocity > 5m/s
158 * The accelerometer should always detect motion before
159 * the barometer, but we use both to make sure this
160 * transition is detected. If the device
161 * doesn't have an accelerometer, then ignore the
162 * speed and acceleration as they are quite noisy
165 if (ao_height > AO_M_TO_HEIGHT(20)
167 || (ao_accel > AO_MSS_TO_ACCEL(20) &&
168 ao_speed > AO_MS_TO_SPEED(5))
172 ao_flight_state = ao_flight_boost;
173 ao_boost_tick = ao_sample_tick;
175 /* start logging data */
179 /* Increase telemetry rate */
180 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
182 /* disable RDF beacon */
187 /* Record current GPS position by waking up GPS log tasks */
188 ao_wakeup(&ao_gps_data);
189 ao_wakeup(&ao_gps_tracking_data);
192 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
195 case ao_flight_boost:
199 * accelerometer: start to fall at > 1/4 G
201 * time: boost for more than 15 seconds
203 * Detects motor burn out by the switch from acceleration to
204 * deceleration, or by waiting until the maximum burn duration
205 * (15 seconds) has past.
207 if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
208 (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
211 ao_flight_state = ao_flight_fast;
212 ao_coast_avg_accel = ao_accel;
214 ao_flight_state = ao_flight_coast;
216 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
222 * This is essentially the same as coast,
223 * but the barometer is being ignored as
224 * it may be unreliable.
226 if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
228 ao_flight_state = ao_flight_coast;
229 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
234 case ao_flight_coast:
237 * By customer request - allow the user
238 * to lock out apogee detection for a specified
241 if (ao_config.apogee_lockout) {
242 if ((ao_sample_tick - ao_boost_tick) <
243 AO_SEC_TO_TICKS(ao_config.apogee_lockout))
247 /* apogee detect: coast to drogue deploy:
251 * Also make sure the model altitude is tracking
252 * the measured altitude reasonably closely; otherwise
253 * we're probably transsonic.
257 && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
262 /* ignite the drogue charge */
263 ao_ignite(ao_igniter_drogue);
267 /* slow down the telemetry system */
268 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
270 /* Turn the RDF beacon back on */
274 /* and enter drogue state */
275 ao_flight_state = ao_flight_drogue;
276 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
281 ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
282 if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
283 ao_boost_tick = ao_sample_tick;
284 ao_flight_state = ao_flight_boost;
285 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
291 case ao_flight_drogue:
293 /* drogue to main deploy:
295 * barometer: reach main deploy altitude
297 * Would like to use the accelerometer for this test, but
298 * the orientation of the flight computer is unknown after
299 * drogue deploy, so we ignore it. Could also detect
300 * high descent rate using the pressure sensor to
301 * recognize drogue deploy failure and eject the main
302 * at that point. Perhaps also use the drogue sense lines
303 * to notice continutity?
305 if (ao_height <= ao_config.main_deploy)
308 ao_ignite(ao_igniter_main);
312 * Start recording min/max height
313 * to figure out when the rocket has landed
316 /* initialize interval values */
317 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
319 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
321 ao_flight_state = ao_flight_main;
322 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
326 /* fall through... */
331 * barometer: altitude stable
334 if (ao_avg_height < ao_interval_min_height)
335 ao_interval_min_height = ao_avg_height;
336 if (ao_avg_height > ao_interval_max_height)
337 ao_interval_max_height = ao_avg_height;
339 if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
340 if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
342 ao_flight_state = ao_flight_landed;
344 /* turn off the ADC capture */
345 ao_timer_set_adc_interval(0);
347 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
349 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
350 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
353 case ao_flight_landed:
360 static inline int int_part(int16_t i) { return i >> 4; }
361 static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; }
369 accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16;
372 printf ("sample:\n");
373 printf (" tick %d\n", ao_sample_tick);
374 printf (" raw pres %d\n", ao_sample_pres);
376 printf (" raw accel %d\n", ao_sample_accel);
378 printf (" ground pres %d\n", ao_ground_pres);
380 printf (" raw accel %d\n", ao_sample_accel);
381 printf (" groundaccel %d\n", ao_ground_accel);
382 printf (" accel_2g %d\n", ao_accel_2g);
385 printf (" alt %d\n", ao_sample_alt);
386 printf (" height %d\n", ao_sample_height);
388 printf (" accel %d.%02d\n", int_part(accel), frac_part(accel));
392 printf ("kalman:\n");
393 printf (" height %d\n", ao_height);
394 printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
395 printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
396 printf (" max_height %d\n", ao_max_height);
397 printf (" avg_height %d\n", ao_avg_height);
398 printf (" error_h %d\n", ao_error_h);
399 printf (" error_avg %d\n", ao_error_h_sq_avg);
402 __code struct ao_cmds ao_flight_cmds[] = {
403 { ao_flight_dump, "F\0Dump flight status" },
408 static __xdata struct ao_task flight_task;
413 ao_flight_state = ao_flight_startup;
415 ao_cmd_register(&ao_flight_cmds[0]);
417 ao_add_task(&flight_task, ao_flight, "flight");