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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 #ifndef AO_FLIGHT_TEST
24 #if HAS_MPU6000 || HAS_MPU9250
25 #include <ao_quaternion.h>
29 #error Please define HAS_ACCEL
33 #error Please define HAS_GPS
37 #error Please define HAS_USB
41 #include <ao_fake_flight.h>
45 #define HAS_TELEMETRY HAS_RADIO
48 /* Main flight thread. */
50 enum ao_flight_state ao_flight_state; /* current flight state */
51 uint16_t ao_boost_tick; /* time of most recent boost detect */
52 uint16_t ao_launch_tick; /* time of first boost detect */
53 uint16_t ao_motor_number; /* number of motors burned so far */
56 /* Any sensor can set this to mark the flight computer as 'broken' */
57 uint8_t ao_sensor_errors;
61 * track min/max data over a long interval to detect
64 static uint16_t ao_interval_end;
65 static ao_v_t ao_interval_min_height;
66 static ao_v_t ao_interval_max_height;
68 static ao_v_t ao_coast_avg_accel;
71 uint8_t ao_flight_force_idle;
73 /* We also have a clock, which can be used to sanity check things in
74 * case of other failures
77 #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
79 /* Landing is detected by getting constant readings from both pressure and accelerometer
80 * for a fairly long time (AO_INTERVAL_TICKS)
82 #define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(10)
84 #define abs(a) ((a) < 0 ? -(a) : (a))
90 ao_flight_state = ao_flight_startup;
94 * Process ADC samples, just looping
95 * until the sensors are calibrated.
100 switch (ao_flight_state) {
101 case ao_flight_startup:
103 /* Check to see what mode we should go to.
104 * - Invalid mode if accel cal appears to be out
105 * - pad mode if we're upright,
106 * - idle mode otherwise
109 if (ao_config.accel_plus_g == 0 ||
110 ao_config.accel_minus_g == 0 ||
111 ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
112 ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
113 ao_ground_height < -1000 ||
114 ao_ground_height > 7000)
116 /* Detected an accel value outside -1.5g to 1.5g
117 * (or uncalibrated values), so we go into invalid mode
119 ao_flight_state = ao_flight_invalid;
121 #if HAS_RADIO && PACKET_HAS_SLAVE
122 /* Turn on packet system in invalid mode on TeleMetrum */
123 ao_packet_slave_start();
127 if (!ao_flight_force_idle
129 && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
133 /* Set pad mode - we can fly! */
134 ao_flight_state = ao_flight_pad;
135 #if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE && !DEBUG
136 /* Disable the USB controller in flight mode
140 if (!ao_fake_flight_active)
145 #if !HAS_ACCEL && PACKET_HAS_SLAVE
146 /* Disable packet mode in pad state on TeleMini */
147 ao_packet_slave_stop();
151 /* Turn on telemetry system */
153 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
156 /* signal successful initialization by turning off the LED */
157 ao_led_off(AO_LED_RED);
161 ao_flight_state = ao_flight_idle;
162 #if HAS_SENSOR_ERRORS
163 if (ao_sensor_errors)
164 ao_flight_state = ao_flight_invalid;
167 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
168 /* Turn on packet system in idle mode on TeleMetrum */
169 ao_packet_slave_start();
173 /* signal successful initialization by turning off the LED */
174 ao_led_off(AO_LED_RED);
177 /* wakeup threads due to state change */
178 ao_wakeup(&ao_flight_state);
184 * barometer: > 20m vertical motion
186 * accelerometer: > 2g AND velocity > 5m/s
188 * The accelerometer should always detect motion before
189 * the barometer, but we use both to make sure this
190 * transition is detected. If the device
191 * doesn't have an accelerometer, then ignore the
192 * speed and acceleration as they are quite noisy
195 if (ao_height > AO_M_TO_HEIGHT(20)
197 || (ao_accel > AO_MSS_TO_ACCEL(20) &&
198 ao_speed > AO_MS_TO_SPEED(5))
202 ao_flight_state = ao_flight_boost;
203 ao_launch_tick = ao_boost_tick = ao_sample_tick;
205 /* start logging data */
209 /* Increase telemetry rate */
210 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
212 /* disable RDF beacon */
217 /* Record current GPS position by waking up GPS log tasks */
218 ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
219 ao_wakeup(&ao_gps_new);
222 ao_wakeup(&ao_flight_state);
225 case ao_flight_boost:
229 * accelerometer: start to fall at > 1/4 G
231 * time: boost for more than 15 seconds
233 * Detects motor burn out by the switch from acceleration to
234 * deceleration, or by waiting until the maximum burn duration
235 * (15 seconds) has past.
237 if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) ||
238 (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
241 ao_flight_state = ao_flight_fast;
242 ao_coast_avg_accel = ao_accel;
244 ao_flight_state = ao_flight_coast;
247 ao_wakeup(&ao_flight_state);
253 * This is essentially the same as coast,
254 * but the barometer is being ignored as
255 * it may be unreliable.
257 if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
259 ao_flight_state = ao_flight_coast;
260 ao_wakeup(&ao_flight_state);
265 case ao_flight_coast:
268 * By customer request - allow the user
269 * to lock out apogee detection for a specified
272 if (ao_config.apogee_lockout) {
273 if ((int16_t) (ao_sample_tick - ao_launch_tick) <
274 AO_SEC_TO_TICKS(ao_config.apogee_lockout))
278 /* apogee detect: coast to drogue deploy:
282 * Also make sure the model altitude is tracking
283 * the measured altitude reasonably closely; otherwise
284 * we're probably transsonic.
286 #define AO_ERROR_BOUND 100
290 && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND)
295 /* ignite the drogue charge */
296 ao_ignite(ao_igniter_drogue);
300 /* slow down the telemetry system */
301 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
303 /* Turn the RDF beacon back on */
307 /* and enter drogue state */
308 ao_flight_state = ao_flight_drogue;
309 ao_wakeup(&ao_flight_state);
314 ao_coast_avg_accel = ao_coast_avg_accel + ((ao_accel - ao_coast_avg_accel) >> 5);
315 if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
316 ao_boost_tick = ao_sample_tick;
317 ao_flight_state = ao_flight_boost;
318 ao_wakeup(&ao_flight_state);
324 case ao_flight_drogue:
326 /* drogue to main deploy:
328 * barometer: reach main deploy altitude
330 * Would like to use the accelerometer for this test, but
331 * the orientation of the flight computer is unknown after
332 * drogue deploy, so we ignore it. Could also detect
333 * high descent rate using the pressure sensor to
334 * recognize drogue deploy failure and eject the main
335 * at that point. Perhaps also use the drogue sense lines
336 * to notice continutity?
338 if (ao_height <= ao_config.main_deploy)
341 ao_ignite(ao_igniter_main);
345 * Start recording min/max height
346 * to figure out when the rocket has landed
349 /* initialize interval values */
350 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
352 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
354 ao_flight_state = ao_flight_main;
355 ao_wakeup(&ao_flight_state);
359 /* fall through... */
364 * barometer: altitude stable
367 if (ao_avg_height < ao_interval_min_height)
368 ao_interval_min_height = ao_avg_height;
369 if (ao_avg_height > ao_interval_max_height)
370 ao_interval_max_height = ao_avg_height;
372 if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
373 if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
375 ao_flight_state = ao_flight_landed;
378 /* turn off the ADC capture */
379 ao_timer_set_adc_interval(0);
382 ao_wakeup(&ao_flight_state);
384 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
385 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
391 printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
393 ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
394 ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
395 ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
399 #endif /* HAS_FLIGHT_DEBUG */
407 static inline int int_part(ao_v_t i) { return i >> 4; }
408 static inline int frac_part(ao_v_t i) { return ((i & 0xf) * 100 + 8) / 16; }
416 accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
419 printf ("sample:\n");
420 printf (" tick %d\n", ao_sample_tick);
421 printf (" raw pres %d\n", ao_sample_pres);
423 printf (" raw accel %d\n", ao_sample_accel);
425 printf (" ground pres %d\n", ao_ground_pres);
426 printf (" ground alt %d\n", ao_ground_height);
428 printf (" raw accel %d\n", ao_sample_accel);
429 printf (" groundaccel %d\n", ao_ground_accel);
430 printf (" accel_2g %d\n", ao_accel_2g);
433 printf (" alt %d\n", ao_sample_alt);
434 printf (" height %d\n", ao_sample_height);
436 printf (" accel %d.%02d\n", int_part(accel), frac_part(accel));
440 printf ("kalman:\n");
441 printf (" height %d\n", ao_height);
442 printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
443 printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
444 printf (" max_height %d\n", ao_max_height);
445 printf (" avg_height %d\n", ao_avg_height);
446 printf (" error_h %d\n", ao_error_h);
448 printf (" error_avg %d\n", ao_error_h_sq_avg);
455 ao_flight_state = ao_flight_test;
457 ao_flight_state = ao_flight_idle;
460 uint8_t ao_orient_test;
463 ao_orient_test_select(void)
465 ao_orient_test = !ao_orient_test;
468 const struct ao_cmds ao_flight_cmds[] = {
469 { ao_flight_dump, "F\0Dump flight status" },
470 { ao_gyro_test, "G\0Test gyro code" },
471 { ao_orient_test_select,"O\0Test orientation code" },
476 static struct ao_task flight_task;
481 ao_flight_state = ao_flight_startup;
483 ao_cmd_register(&ao_flight_cmds[0]);
485 ao_add_task(&flight_task, ao_flight, "flight");