2 * Copyright © 2011 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 * Current sensor values
28 #define PRES_TYPE int32_t
29 #define ALT_TYPE int32_t
30 #define ACCEL_TYPE int16_t
33 __pdata uint16_t ao_sample_tick; /* time of last data */
34 __pdata pres_t ao_sample_pres;
35 __pdata alt_t ao_sample_alt;
36 __pdata alt_t ao_sample_height;
38 __pdata accel_t ao_sample_accel;
41 __pdata accel_t ao_sample_accel_along;
42 __pdata accel_t ao_sample_accel_across;
43 __pdata accel_t ao_sample_accel_through;
44 __pdata gyro_t ao_sample_roll;
45 __pdata gyro_t ao_sample_pitch;
46 __pdata gyro_t ao_sample_yaw;
47 __pdata angle_t ao_sample_angle;
48 __pdata angle_t ao_sample_roll_angle;
51 __data uint8_t ao_sample_data;
54 * Sensor calibration values
57 __pdata pres_t ao_ground_pres; /* startup pressure */
58 __pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */
61 __pdata accel_t ao_ground_accel; /* startup acceleration */
62 __pdata accel_t ao_accel_2g; /* factory accel calibration */
63 __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
67 __pdata accel_t ao_ground_accel_along;
68 __pdata accel_t ao_ground_accel_across;
69 __pdata accel_t ao_ground_accel_through;
70 __pdata gyro_t ao_ground_pitch;
71 __pdata gyro_t ao_ground_yaw;
72 __pdata gyro_t ao_ground_roll;
75 static __pdata uint8_t ao_preflight; /* in preflight mode */
77 static __pdata uint16_t nsamples;
78 __pdata int32_t ao_sample_pres_sum;
80 __pdata int32_t ao_sample_accel_sum;
83 __pdata int32_t ao_sample_accel_along_sum;
84 __pdata int32_t ao_sample_accel_across_sum;
85 __pdata int32_t ao_sample_accel_through_sum;
86 __pdata int32_t ao_sample_pitch_sum;
87 __pdata int32_t ao_sample_yaw_sum;
88 __pdata int32_t ao_sample_roll_sum;
92 ao_sample_preflight_add(void)
95 ao_sample_accel_sum += ao_sample_accel;
97 ao_sample_pres_sum += ao_sample_pres;
99 ao_sample_accel_along_sum += ao_sample_accel_along;
100 ao_sample_accel_across_sum += ao_sample_accel_across;
101 ao_sample_accel_through_sum += ao_sample_accel_through;
102 ao_sample_pitch_sum += ao_sample_pitch;
103 ao_sample_yaw_sum += ao_sample_yaw;
104 ao_sample_roll_sum += ao_sample_roll;
110 ao_sample_preflight_set(void)
113 ao_ground_accel = ao_sample_accel_sum >> 9;
114 ao_sample_accel_sum = 0;
116 ao_ground_pres = ao_sample_pres_sum >> 9;
117 ao_ground_height = pres_to_altitude(ao_ground_pres);
118 ao_sample_pres_sum = 0;
120 ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
121 ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
122 ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
123 ao_ground_pitch = ao_sample_pitch_sum >> 9;
124 ao_ground_yaw = ao_sample_yaw_sum >> 9;
125 ao_ground_roll = ao_sample_roll_sum >> 9;
126 ao_sample_accel_along_sum = 0;
127 ao_sample_accel_across_sum = 0;
128 ao_sample_accel_through_sum = 0;
129 ao_sample_pitch_sum = 0;
130 ao_sample_yaw_sum = 0;
131 ao_sample_roll_sum = 0;
138 ao_sample_preflight(void)
142 * Collect 512 samples of acceleration and pressure
143 * data and average them to find the resting values
145 if (nsamples < 512) {
146 ao_sample_preflight_add();
149 ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
150 ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
152 ao_sample_preflight_set();
153 ao_preflight = FALSE;
158 * While in pad mode, constantly update the ground state by
159 * re-averaging the data. This tracks changes in orientation, which
160 * might be caused by adjustments to the rocket on the pad and
161 * pressure, which might be caused by changes in the weather.
165 ao_sample_preflight_update(void)
168 ao_sample_preflight_add();
169 else if (nsamples < 1024)
172 ao_sample_preflight_set();
177 static int32_t p_filt;
178 static int32_t y_filt;
180 static gyro_t inline ao_gyro(void) {
181 gyro_t p = ao_sample_pitch - ao_ground_pitch;
182 gyro_t y = ao_sample_yaw - ao_ground_yaw;
184 p_filt = p_filt - (p_filt >> 6) + p;
185 y_filt = y_filt - (y_filt >> 6) + y;
189 return ao_sqrt(p*p + y*y);
196 ao_wakeup(DATA_TO_XDATA(&ao_sample_data));
197 ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
198 while (ao_sample_data != ao_data_head) {
199 __xdata struct ao_data *ao_data;
201 /* Capture a sample */
202 ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data];
203 ao_sample_tick = ao_data->tick;
206 ao_data_pres_cook(ao_data);
207 ao_sample_pres = ao_data_pres(ao_data);
208 ao_sample_alt = pres_to_altitude(ao_sample_pres);
209 ao_sample_height = ao_sample_alt - ao_ground_height;
213 ao_sample_accel = ao_data_accel_cook(ao_data);
214 if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
215 ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
216 ao_data_set_accel(ao_data, ao_sample_accel);
219 ao_sample_accel_along = ao_data_along(ao_data);
220 ao_sample_pitch = ao_data_pitch(ao_data);
221 ao_sample_yaw = ao_data_yaw(ao_data);
222 ao_sample_roll = ao_data_roll(ao_data);
226 ao_sample_preflight();
228 if (ao_flight_state < ao_flight_boost)
229 ao_sample_preflight_update();
232 ao_sample_angle += ao_gyro();
233 ao_sample_roll_angle += (ao_sample_roll - ao_ground_roll);
236 ao_sample_data = ao_data_ring_next(ao_sample_data);
238 return !ao_preflight;
246 ao_sample_pres_sum = 0;
249 ao_sample_accel_sum = 0;
253 ao_sample_accel_along_sum = 0;
254 ao_sample_accel_across_sum = 0;
255 ao_sample_accel_through_sum = 0;
256 ao_sample_accel_along = 0;
257 ao_sample_accel_across = 0;
258 ao_sample_accel_through = 0;
259 ao_sample_pitch_sum = 0;
260 ao_sample_yaw_sum = 0;
261 ao_sample_roll_sum = 0;
267 ao_sample_data = ao_data_head;