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 #include <ao_flight.h>
26 #if HAS_MPU6000 || HAS_MPU9250
27 #include <ao_quaternion.h>
31 #error Please define HAS_ACCEL
35 #error Please define HAS_GPS
39 #error Please define HAS_USB
43 #include <ao_fake_flight.h>
47 #define HAS_TELEMETRY HAS_RADIO
50 /* Main flight thread. */
52 enum ao_flight_state ao_flight_state; /* current flight state */
53 AO_TICK_TYPE ao_boost_tick; /* time of most recent boost detect */
54 AO_TICK_TYPE ao_launch_tick; /* time of first boost detect */
55 uint16_t ao_motor_number; /* number of motors burned so far */
58 /* Any sensor can set this to mark the flight computer as 'broken' */
59 uint8_t ao_sensor_errors;
63 * track min/max data over a long interval to detect
66 static AO_TICK_TYPE ao_interval_end;
68 static ao_v_t ao_interval_min_height;
69 static ao_v_t ao_interval_max_height;
71 static accel_t ao_interval_min_accel_along, ao_interval_max_accel_along;
72 static accel_t ao_interval_min_accel_across, ao_interval_max_accel_across;
73 static accel_t ao_interval_min_accel_through, ao_interval_max_accel_through;
76 static ao_v_t ao_coast_avg_accel;
79 #define init_bounds(_cur, _min, _max) do { \
83 #define check_bounds(_cur, _min, _max) do { \
90 uint8_t ao_flight_force_idle;
92 /* We also have a clock, which can be used to sanity check things in
93 * case of other failures
96 #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
98 /* Landing is detected by getting constant readings from both pressure and accelerometer
99 * for a fairly long time (AO_INTERVAL_TICKS)
101 #define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(10)
103 #define abs(a) ((a) < 0 ? -(a) : (a))
106 // #define DEBUG_ACCEL_ONLY 1
113 ao_flight_state = ao_flight_startup;
117 * Process ADC samples, just looping
118 * until the sensors are calibrated.
123 switch (ao_flight_state) {
124 case ao_flight_startup:
126 /* Check to see what mode we should go to.
127 * - Invalid mode if accel cal appears to be out
128 * - pad mode if we're upright,
129 * - idle mode otherwise
132 if (ao_config.accel_plus_g == 0 ||
133 ao_config.accel_minus_g == 0 ||
134 ao_ground_accel < (accel_t) ao_config.accel_plus_g - ACCEL_NOSE_UP ||
135 ao_ground_accel > (accel_t) ao_config.accel_minus_g + ACCEL_NOSE_UP
137 || ao_ground_height < -1000 ||
138 ao_ground_height > 7000
142 /* Detected an accel value outside -1.5g to 1.5g
143 * (or uncalibrated values), so we go into invalid mode
145 ao_flight_state = ao_flight_invalid;
147 #if HAS_RADIO && PACKET_HAS_SLAVE
148 /* Turn on packet system in invalid mode on TeleMetrum */
149 ao_packet_slave_start();
153 if (!ao_flight_force_idle
155 && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
159 /* Set pad mode - we can fly! */
160 ao_flight_state = ao_flight_pad;
161 #if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE && !DEBUG
162 /* Disable the USB controller in flight mode
166 if (!ao_fake_flight_active)
171 #if !HAS_ACCEL && PACKET_HAS_SLAVE
172 /* Disable packet mode in pad state on TeleMini */
173 ao_packet_slave_stop();
177 /* Turn on telemetry system */
179 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
182 /* signal successful initialization by turning off the LED */
183 ao_led_off(AO_LED_RED);
187 ao_flight_state = ao_flight_idle;
188 #if HAS_SENSOR_ERRORS
189 if (ao_sensor_errors)
190 ao_flight_state = ao_flight_invalid;
193 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
194 /* Turn on packet system in idle mode on TeleMetrum */
195 ao_packet_slave_start();
199 /* signal successful initialization by turning off the LED */
200 ao_led_off(AO_LED_RED);
203 /* wakeup threads due to state change */
204 ao_wakeup(&ao_flight_state);
209 case ao_flight_invalid:
211 printf("+g %d ga %d sa %d accel %ld speed %ld\n",
212 ao_config.accel_plus_g, ao_ground_accel, ao_sample_accel, ao_accel, ao_speed);
219 * barometer: > 20m vertical motion
221 * accelerometer: > 2g AND velocity > 5m/s
223 * The accelerometer should always detect motion before
224 * the barometer, but we use both to make sure this
225 * transition is detected. If the device
226 * doesn't have an accelerometer, then ignore the
227 * speed and acceleration as they are quite noisy
230 if (ao_height > AO_M_TO_HEIGHT(20)
232 || (ao_accel > AO_MSS_TO_ACCEL(20)
233 && ao_speed > AO_MS_TO_SPEED(5))
237 ao_flight_state = ao_flight_boost;
238 ao_wakeup(&ao_flight_state);
240 ao_launch_tick = ao_boost_tick = ao_sample_tick;
242 /* start logging data */
248 /* Increase telemetry rate */
249 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
251 /* disable RDF beacon */
256 /* Record current GPS position by waking up GPS log tasks */
257 ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
258 ao_wakeup(&ao_gps_new);
262 case ao_flight_boost:
266 * accelerometer: start to fall at > 1/4 G
268 * time: boost for more than 15 seconds
270 * Detects motor burn out by the switch from acceleration to
271 * deceleration, or by waiting until the maximum burn duration
272 * (15 seconds) has past.
274 if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) ||
275 (AO_TICK_SIGNED) (ao_sample_tick - ao_boost_tick) > (AO_TICK_SIGNED) BOOST_TICKS_MAX)
279 ao_flight_state = ao_flight_fast;
281 ao_flight_state = ao_flight_coast;
283 /* Initialize landing detection interval values */
284 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
286 init_bounds(ao_sample_accel_along, ao_interval_min_accel_along, ao_interval_max_accel_along);
287 init_bounds(ao_sample_accel_across, ao_interval_min_accel_across, ao_interval_max_accel_across);
288 init_bounds(ao_sample_accel_through, ao_interval_min_accel_through, ao_interval_max_accel_through);
290 ao_coast_avg_accel = ao_accel;
292 ao_flight_state = ao_flight_coast;
294 ao_wakeup(&ao_flight_state);
298 #if HAS_ACCEL && HAS_BARO
301 * This is essentially the same as coast,
302 * but the barometer is being ignored as
303 * it may be unreliable.
305 if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
307 ao_flight_state = ao_flight_coast;
308 ao_wakeup(&ao_flight_state);
313 case ao_flight_coast:
317 * By customer request - allow the user
318 * to lock out apogee detection for a specified
321 if (ao_config.apogee_lockout) {
322 if ((AO_TICK_SIGNED) (ao_sample_tick - ao_launch_tick) <
323 (AO_TICK_SIGNED) AO_SEC_TO_TICKS(ao_config.apogee_lockout))
327 /* apogee detect: coast to drogue deploy:
331 * Also make sure the model altitude is tracking
332 * the measured altitude reasonably closely; otherwise
333 * we're probably transsonic.
335 #define AO_ERROR_BOUND 100
339 && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND)
343 /* enter drogue state */
344 ao_flight_state = ao_flight_drogue;
345 ao_wakeup(&ao_flight_state);
347 /* slow down the telemetry system */
348 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
350 /* Turn the RDF beacon back on */
355 #else /* not HAS_BARO */
358 * accel: values stable
360 check_bounds(ao_sample_accel_along, ao_interval_min_accel_along, ao_interval_max_accel_along);
361 check_bounds(ao_sample_accel_across, ao_interval_min_accel_across, ao_interval_max_accel_across);
362 check_bounds(ao_sample_accel_through, ao_interval_min_accel_through, ao_interval_max_accel_through);
364 #define MAX_QUIET_ACCEL 2
366 if ((AO_TICK_SIGNED) (ao_sample_tick - ao_interval_end) >= 0) {
367 if (ao_interval_max_accel_along - ao_interval_min_accel_along <= ao_data_accel_to_sample(MAX_QUIET_ACCEL) &&
368 ao_interval_max_accel_across - ao_interval_min_accel_across <= ao_data_accel_to_sample(MAX_QUIET_ACCEL) &&
369 ao_interval_max_accel_through - ao_interval_min_accel_through <= ao_data_accel_to_sample(MAX_QUIET_ACCEL))
371 ao_flight_state = ao_flight_landed;
372 ao_wakeup(&ao_flight_state);
374 /* turn off the ADC capture */
375 ao_timer_set_adc_interval(0);
379 /* Reset interval values */
380 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
382 init_bounds(ao_sample_accel_along, ao_interval_min_accel_along, ao_interval_max_accel_along);
383 init_bounds(ao_sample_accel_across, ao_interval_min_accel_across, ao_interval_max_accel_across);
384 init_bounds(ao_sample_accel_through, ao_interval_min_accel_through, ao_interval_max_accel_through);
392 ao_coast_avg_accel = ao_coast_avg_accel + ((ao_accel - ao_coast_avg_accel) >> 5);
393 if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
394 ao_boost_tick = ao_sample_tick;
395 ao_flight_state = ao_flight_boost;
396 ao_wakeup(&ao_flight_state);
403 case ao_flight_drogue:
405 /* drogue to main deploy:
407 * barometer: reach main deploy altitude
409 * Would like to use the accelerometer for this test, but
410 * the orientation of the flight computer is unknown after
411 * drogue deploy, so we ignore it. Could also detect
412 * high descent rate using the pressure sensor to
413 * recognize drogue deploy failure and eject the main
414 * at that point. Perhaps also use the drogue sense lines
415 * to notice continutity?
417 if (ao_height <= ao_config.main_deploy)
419 ao_flight_state = ao_flight_main;
420 ao_wakeup(&ao_flight_state);
423 * Start recording min/max height
424 * to figure out when the rocket has landed
427 /* initialize interval values */
428 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
430 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
434 /* fall through... */
439 * barometer: altitude stable
441 if (ao_avg_height < ao_interval_min_height)
442 ao_interval_min_height = ao_avg_height;
443 if (ao_avg_height > ao_interval_max_height)
444 ao_interval_max_height = ao_avg_height;
446 if ((AO_TICK_SIGNED) (ao_sample_tick - ao_interval_end) >= 0) {
447 if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
449 ao_flight_state = ao_flight_landed;
450 ao_wakeup(&ao_flight_state);
452 /* turn off the ADC capture */
453 ao_timer_set_adc_interval(0);
456 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
457 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
460 #endif /* HAS_BARO */
464 printf ("angle %4d pitch %7ld yaw %7ld roll %7ld\n",
466 ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
467 ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
468 ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
472 #endif /* HAS_FLIGHT_DEBUG */
480 static inline int int_part(ao_v_t i) { return i >> 4; }
481 static inline int frac_part(ao_v_t i) { return ((i & 0xf) * 100 + 8) / 16; }
489 accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
492 printf ("sample:\n");
493 printf (" tick %d\n", ao_sample_tick);
495 printf (" raw pres %ld\n", ao_sample_pres);
498 printf (" raw accel %d\n", ao_sample_accel);
501 printf (" ground pres %ld\n", ao_ground_pres);
502 printf (" ground alt %ld\n", ao_ground_height);
505 printf (" raw accel %d\n", ao_sample_accel);
506 printf (" groundaccel %d\n", ao_ground_accel);
507 printf (" accel_2g %d\n", ao_accel_2g);
511 printf (" alt %ld\n", ao_sample_alt);
512 printf (" height %ld\n", ao_sample_height);
516 printf (" accel %d.%02d\n", int_part(accel), frac_part(accel));
520 printf ("kalman:\n");
521 printf (" height %ld\n", ao_height);
522 printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
523 printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
524 printf (" max_height %ld\n", ao_max_height);
525 printf (" avg_height %ld\n", ao_avg_height);
526 printf (" error_h %ld\n", ao_error_h);
528 printf (" error_avg %d\n", ao_error_h_sq_avg);
535 ao_flight_state = ao_flight_test;
537 ao_flight_state = ao_flight_idle;
540 uint8_t ao_orient_test;
543 ao_orient_test_select(void)
545 ao_orient_test = !ao_orient_test;
546 printf("orient test %d\n", ao_orient_test);
549 const struct ao_cmds ao_flight_cmds[] = {
550 { ao_flight_dump, "F\0Dump flight status" },
551 { ao_gyro_test, "G\0Test gyro code" },
552 { ao_orient_test_select,"O\0Test orientation code" },
557 static struct ao_task flight_task;
562 ao_flight_state = ao_flight_startup;
564 ao_cmd_register(&ao_flight_cmds[0]);
566 ao_add_task(&flight_task, ao_flight, "flight");