2 * Copyright © 2013 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
21 #include <ao_micropeak.h>
22 #include <ao_log_micro.h>
32 ao_microkalman_predict();
33 ao_microkalman_correct();
36 #define NUM_PA_HIST (GROUND_AVG)
38 #define SKIP_PA_HIST(i,j) (((i) + (j)) & (NUM_PA_HIST - 1))
40 static uint32_t pa_hist[NUM_PA_HIST];
47 uint32_t pa_interval_min, pa_interval_max;
50 uint8_t accel_lock = 0;
53 /* Wait for motion, averaging values to get ground pressure */
57 ao_microkalman_init();
63 if ((sample_count & 0x1f) == 0)
64 ao_led_on(AO_LED_REPORT);
67 if ((sample_count & 0x1f) == 0)
68 ao_led_off(AO_LED_REPORT);
70 h = SKIP_PA_HIST(h,1);
71 pa_diff = pa_ground - ao_pa;
73 /* Check for a significant pressure change */
74 if (pa_diff > BOOST_DETECT)
77 if (sample_count < GROUND_AVG * 2) {
78 if (sample_count < GROUND_AVG)
82 pa_ground = pa_sum >> GROUND_AVG_SHIFT;
88 /* Go back and find the last sample close to the ground */
89 pa_min = pa_ground - LAND_DETECT;
90 for (i = SKIP_PA_HIST(h,-2); i != SKIP_PA_HIST(h,2); i = SKIP_PA_HIST(i,-2)) {
91 if (pa_hist[i] >= pa_min)
95 /* Log the remaining samples so we get a complete history since leaving the ground */
96 for (; i != h; i = SKIP_PA_HIST(i,2)) {
101 /* Now sit around until the pressure is stable again and record the max */
105 pa_interval_min = ao_pa;
106 pa_interval_max = ao_pa;
108 time += SAMPLE_SLEEP;
109 ao_delay_until(time);
110 if ((sample_count & 3) == 0)
111 ao_led_on(AO_LED_REPORT);
113 if ((sample_count & 3) == 0)
114 ao_led_off(AO_LED_REPORT);
115 if (sample_count & 1)
118 /* If accelerating upwards, don't look for min pressure */
119 if (ao_pa_accel < ACCEL_LOCK_PA)
120 accel_lock = ACCEL_LOCK_TIME;
123 else if (ao_pa < pa_min)
126 if (sample_count == (GROUND_AVG - 1)) {
127 pa_diff = pa_interval_max - pa_interval_min;
129 /* Check to see if the pressure is now stable */
130 if (pa_diff < LAND_DETECT)
133 pa_interval_min = ao_pa;
134 pa_interval_max = ao_pa;
136 if (ao_pa < pa_interval_min)
137 pa_interval_min = ao_pa;
138 if (ao_pa > pa_interval_max)
139 pa_interval_max = ao_pa;