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
35 /* Main flight thread. */
37 __pdata enum ao_flight_state ao_flight_state; /* current flight state */
38 __pdata uint16_t ao_boost_tick; /* time of launch detect */
41 * track min/max data over a long interval to detect
44 static __data uint16_t ao_interval_end;
45 static __data int16_t ao_interval_min_height;
46 static __data int16_t ao_interval_max_height;
47 static __data int16_t ao_coast_avg_accel;
49 __pdata uint8_t ao_flight_force_idle;
51 /* We also have a clock, which can be used to sanity check things in
52 * case of other failures
55 #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
57 /* Landing is detected by getting constant readings from both pressure and accelerometer
58 * for a fairly long time (AO_INTERVAL_TICKS)
60 #define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(10)
62 #define abs(a) ((a) < 0 ? -(a) : (a))
68 ao_flight_state = ao_flight_startup;
72 * Process ADC samples, just looping
73 * until the sensors are calibrated.
78 switch (ao_flight_state) {
79 case ao_flight_startup:
81 /* Check to see what mode we should go to.
82 * - Invalid mode if accel cal appears to be out
83 * - pad mode if we're upright,
84 * - idle mode otherwise
87 if (ao_config.accel_plus_g == 0 ||
88 ao_config.accel_minus_g == 0 ||
89 ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
90 ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
92 /* Detected an accel value outside -1.5g to 1.5g
93 * (or uncalibrated values), so we go into invalid mode
95 ao_flight_state = ao_flight_invalid;
98 /* Turn on packet system in invalid mode on TeleMetrum */
99 ao_packet_slave_start();
103 if (!ao_flight_force_idle
105 && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
109 /* Set pad mode - we can fly! */
110 ao_flight_state = ao_flight_pad;
111 #if HAS_USB && HAS_RADIO
112 /* Disable the USB controller in flight mode
119 /* Disable packet mode in pad state on TeleMini */
120 ao_packet_slave_stop();
124 /* Turn on telemetry system */
126 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
128 /* signal successful initialization by turning off the LED */
129 ao_led_off(AO_LED_RED);
132 ao_flight_state = ao_flight_idle;
134 #if HAS_ACCEL && HAS_RADIO
135 /* Turn on packet system in idle mode on TeleMetrum */
136 ao_packet_slave_start();
139 /* signal successful initialization by turning off the LED */
140 ao_led_off(AO_LED_RED);
142 /* wakeup threads due to state change */
143 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
150 * barometer: > 20m vertical motion
152 * accelerometer: > 2g AND velocity > 5m/s
154 * The accelerometer should always detect motion before
155 * the barometer, but we use both to make sure this
156 * transition is detected. If the device
157 * doesn't have an accelerometer, then ignore the
158 * speed and acceleration as they are quite noisy
161 if (ao_height > AO_M_TO_HEIGHT(20)
163 || (ao_accel > AO_MSS_TO_ACCEL(20) &&
164 ao_speed > AO_MS_TO_SPEED(5))
168 ao_flight_state = ao_flight_boost;
169 ao_boost_tick = ao_sample_tick;
171 /* start logging data */
175 /* Increase telemetry rate */
176 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
178 /* disable RDF beacon */
183 /* Record current GPS position by waking up GPS log tasks */
184 ao_wakeup(&ao_gps_data);
185 ao_wakeup(&ao_gps_tracking_data);
188 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
191 case ao_flight_boost:
195 * accelerometer: start to fall at > 1/4 G
197 * time: boost for more than 15 seconds
199 * Detects motor burn out by the switch from acceleration to
200 * deceleration, or by waiting until the maximum burn duration
201 * (15 seconds) has past.
203 if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
204 (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
207 ao_flight_state = ao_flight_fast;
208 ao_coast_avg_accel = ao_accel;
210 ao_flight_state = ao_flight_coast;
212 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
218 * This is essentially the same as coast,
219 * but the barometer is being ignored as
220 * it may be unreliable.
222 if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
224 ao_flight_state = ao_flight_coast;
225 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
230 case ao_flight_coast:
233 * By customer request - allow the user
234 * to lock out apogee detection for a specified
237 if (ao_config.apogee_lockout) {
238 if ((ao_sample_tick - ao_boost_tick) <
239 AO_SEC_TO_TICKS(ao_config.apogee_lockout))
243 /* apogee detect: coast to drogue deploy:
247 * Also make sure the model altitude is tracking
248 * the measured altitude reasonably closely; otherwise
249 * we're probably transsonic.
253 && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
258 /* ignite the drogue charge */
259 ao_ignite(ao_igniter_drogue);
263 /* slow down the telemetry system */
264 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
266 /* Turn the RDF beacon back on */
270 /* and enter drogue state */
271 ao_flight_state = ao_flight_drogue;
272 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
277 ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
278 if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
279 ao_boost_tick = ao_sample_tick;
280 ao_flight_state = ao_flight_boost;
281 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
287 case ao_flight_drogue:
289 /* drogue to main deploy:
291 * barometer: reach main deploy altitude
293 * Would like to use the accelerometer for this test, but
294 * the orientation of the flight computer is unknown after
295 * drogue deploy, so we ignore it. Could also detect
296 * high descent rate using the pressure sensor to
297 * recognize drogue deploy failure and eject the main
298 * at that point. Perhaps also use the drogue sense lines
299 * to notice continutity?
301 if (ao_height <= ao_config.main_deploy)
304 ao_ignite(ao_igniter_main);
308 * Start recording min/max height
309 * to figure out when the rocket has landed
312 /* initialize interval values */
313 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
315 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
317 ao_flight_state = ao_flight_main;
318 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
322 /* fall through... */
327 * barometer: altitude stable
330 if (ao_avg_height < ao_interval_min_height)
331 ao_interval_min_height = ao_avg_height;
332 if (ao_avg_height > ao_interval_max_height)
333 ao_interval_max_height = ao_avg_height;
335 if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
336 if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
338 ao_flight_state = ao_flight_landed;
340 /* turn off the ADC capture */
341 ao_timer_set_adc_interval(0);
343 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
345 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
346 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
349 case ao_flight_landed:
356 static inline int int_part(int16_t i) { return i >> 4; }
357 static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; }
364 accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16;
366 printf ("sample:\n");
367 printf (" tick %d\n", ao_sample_tick);
368 printf (" raw pres %d\n", ao_sample_pres);
370 printf (" raw accel %d\n", ao_sample_accel);
372 printf (" ground pres %d\n", ao_ground_pres);
374 printf (" raw accel %d\n", ao_sample_accel);
375 printf (" groundaccel %d\n", ao_ground_accel);
376 printf (" accel_2g %d\n", ao_accel_2g);
379 printf (" alt %d\n", ao_sample_alt);
380 printf (" height %d\n", ao_sample_height);
381 printf (" accel %d.%02d\n", int_part(accel), frac_part(accel));
384 printf ("kalman:\n");
385 printf (" height %d\n", ao_height);
386 printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
387 printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
388 printf (" max_height %d\n", ao_max_height);
389 printf (" avg_height %d\n", ao_avg_height);
390 printf (" error_h %d\n", ao_error_h);
391 printf (" error_avg %d\n", ao_error_h_sq_avg);
394 __code struct ao_cmds ao_flight_cmds[] = {
395 { ao_flight_dump, "F\0Dump flight status" },
400 static __xdata struct ao_task flight_task;
405 ao_flight_state = ao_flight_startup;
407 ao_cmd_register(&ao_flight_cmds[0]);
409 ao_add_task(&flight_task, ao_flight, "flight");