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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   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.
   8  *
   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.
  13  *
  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.
  17  */
  18
  19 #ifndef AO_FLIGHT_TEST
  20 #include "ao.h"
  21 #include <ao_log.h>
  22 #endif
  23
  24 #include <ao_flight.h>
  25
  26 #if HAS_MPU6000 || HAS_MPU9250
  27 #include <ao_quaternion.h>
  28 #endif
  29
  30 #ifndef HAS_ACCEL
  31 #error Please define HAS_ACCEL
  32 #endif
  33
  34 #ifndef HAS_GPS
  35 #error Please define HAS_GPS
  36 #endif
  37
  38 #ifndef HAS_USB
  39 #error Please define HAS_USB
  40 #endif
  41
  42 #if HAS_FAKE_FLIGHT
  43 #include <ao_fake_flight.h>
  44 #endif
  45
  46 #ifndef HAS_TELEMETRY
  47 #define HAS_TELEMETRY   HAS_RADIO
  48 #endif
  49
  50 /* Main flight thread. */
  51
  52 enum ao_flight_state    ao_flight_state;        /* current flight state */
  53 uint16_t                ao_boost_tick;          /* time of most recent boost detect */
  54 uint16_t                ao_launch_tick;         /* time of first boost detect */
  55 uint16_t                ao_motor_number;        /* number of motors burned so far */
  56
  57 #if HAS_SENSOR_ERRORS
  58 /* Any sensor can set this to mark the flight computer as 'broken' */
  59 uint8_t                 ao_sensor_errors;
  60 #endif
  61
  62 /*
  63  * track min/max data over a long interval to detect
  64  * resting
  65  */
  66 static uint16_t         ao_interval_end;
  67 static ao_v_t           ao_interval_min_height;
  68 static ao_v_t           ao_interval_max_height;
  69 #if HAS_ACCEL
  70 static ao_v_t           ao_coast_avg_accel;
  71 #endif
  72
  73 uint8_t                 ao_flight_force_idle;
  74
  75 /* We also have a clock, which can be used to sanity check things in
  76  * case of other failures
  77  */
  78
  79 #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
  80
  81 /* Landing is detected by getting constant readings from both pressure and accelerometer
  82  * for a fairly long time (AO_INTERVAL_TICKS)
  83  */
  84 #define AO_INTERVAL_TICKS       AO_SEC_TO_TICKS(10)
  85
  86 #define abs(a)  ((a) < 0 ? -(a) : (a))
  87
  88 void
  89 ao_flight(void)
  90 {
  91         ao_sample_init();
  92         ao_flight_state = ao_flight_startup;
  93         for (;;) {
  94
  95                 /*
  96                  * Process ADC samples, just looping
  97                  * until the sensors are calibrated.
  98                  */
  99                 if (!ao_sample())
 100                         continue;
 101
 102                 switch (ao_flight_state) {
 103                 case ao_flight_startup:
 104
 105                         /* Check to see what mode we should go to.
 106                          *  - Invalid mode if accel cal appears to be out
 107                          *  - pad mode if we're upright,
 108                          *  - idle mode otherwise
 109                          */
 110 #if HAS_ACCEL
 111                         if (ao_config.accel_plus_g == 0 ||
 112                             ao_config.accel_minus_g == 0 ||
 113                             ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP
 114 #if HAS_BARO
 115                             || ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP
 116                             || ao_ground_height < -1000 || ao_ground_height > 7000
 117 #endif
 118                                 )
 119                         {
 120                                 /* Detected an accel value outside -1.5g to 1.5g
 121                                  * (or uncalibrated values), so we go into invalid mode
 122                                  */
 123                                 ao_flight_state = ao_flight_invalid;
 124
 125 #if HAS_RADIO && PACKET_HAS_SLAVE
 126                                 /* Turn on packet system in invalid mode on TeleMetrum */
 127                                 ao_packet_slave_start();
 128 #endif
 129                         } else
 130 #endif
 131                                 if (!ao_flight_force_idle
 132 #if HAS_ACCEL
 133                                     && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
 134 #endif
 135                                         )
 136                         {
 137                                 /* Set pad mode - we can fly! */
 138                                 ao_flight_state = ao_flight_pad;
 139 #if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE && !DEBUG
 140                                 /* Disable the USB controller in flight mode
 141                                  * to save power
 142                                  */
 143 #if HAS_FAKE_FLIGHT
 144                                 if (!ao_fake_flight_active)
 145 #endif
 146                                         ao_usb_disable();
 147 #endif
 148
 149 #if !HAS_ACCEL && PACKET_HAS_SLAVE
 150                                 /* Disable packet mode in pad state on TeleMini */
 151                                 ao_packet_slave_stop();
 152 #endif
 153
 154 #if HAS_TELEMETRY
 155                                 /* Turn on telemetry system */
 156                                 ao_rdf_set(1);
 157                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 158 #endif
 159 #if AO_LED_RED
 160                                 /* signal successful initialization by turning off the LED */
 161                                 ao_led_off(AO_LED_RED);
 162 #endif
 163                         } else {
 164                                 /* Set idle mode */
 165                                 ao_flight_state = ao_flight_idle;
 166 #if HAS_SENSOR_ERRORS
 167                                 if (ao_sensor_errors)
 168                                         ao_flight_state = ao_flight_invalid;
 169 #endif
 170
 171 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
 172                                 /* Turn on packet system in idle mode on TeleMetrum */
 173                                 ao_packet_slave_start();
 174 #endif
 175
 176 #if AO_LED_RED
 177                                 /* signal successful initialization by turning off the LED */
 178                                 ao_led_off(AO_LED_RED);
 179 #endif
 180                         }
 181                         /* wakeup threads due to state change */
 182                         ao_wakeup(&ao_flight_state);
 183
 184                         break;
 185                 case ao_flight_pad:
 186                         /* pad to boost:
 187                          *
 188                          * barometer: > 20m vertical motion
 189                          *             OR
 190                          * accelerometer: > 2g AND velocity > 5m/s
 191                          *
 192                          * The accelerometer should always detect motion before
 193                          * the barometer, but we use both to make sure this
 194                          * transition is detected. If the device
 195                          * doesn't have an accelerometer, then ignore the
 196                          * speed and acceleration as they are quite noisy
 197                          * on the pad.
 198                          */
 199                         if (ao_height > AO_M_TO_HEIGHT(20)
 200 #if HAS_ACCEL
 201                             || (ao_accel > AO_MSS_TO_ACCEL(20) &&
 202                                 ao_speed > AO_MS_TO_SPEED(5))
 203 #endif
 204                                 )
 205                         {
 206                                 ao_flight_state = ao_flight_boost;
 207                                 ao_launch_tick = ao_boost_tick = ao_sample_tick;
 208
 209                                 /* start logging data */
 210 #if HAS_LOG
 211                                 ao_log_start();
 212 #endif
 213
 214 #if HAS_TELEMETRY
 215                                 /* Increase telemetry rate */
 216                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
 217
 218                                 /* disable RDF beacon */
 219                                 ao_rdf_set(0);
 220 #endif
 221
 222 #if HAS_GPS
 223                                 /* Record current GPS position by waking up GPS log tasks */
 224                                 ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
 225                                 ao_wakeup(&ao_gps_new);
 226 #endif
 227
 228                                 ao_wakeup(&ao_flight_state);
 229                         }
 230                         break;
 231                 case ao_flight_boost:
 232
 233                         /* boost to fast:
 234                          *
 235                          * accelerometer: start to fall at > 1/4 G
 236                          *              OR
 237                          * time: boost for more than 15 seconds
 238                          *
 239                          * Detects motor burn out by the switch from acceleration to
 240                          * deceleration, or by waiting until the maximum burn duration
 241                          * (15 seconds) has past.
 242                          */
 243                         if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) ||
 244                             (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
 245                         {
 246 #if HAS_ACCEL
 247                                 ao_flight_state = ao_flight_fast;
 248                                 ao_coast_avg_accel = ao_accel;
 249 #else
 250                                 ao_flight_state = ao_flight_coast;
 251 #endif
 252                                 ++ao_motor_number;
 253                                 ao_wakeup(&ao_flight_state);
 254                         }
 255                         break;
 256 #if HAS_ACCEL
 257                 case ao_flight_fast:
 258                         /*
 259                          * This is essentially the same as coast,
 260                          * but the barometer is being ignored as
 261                          * it may be unreliable.
 262                          */
 263                         if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
 264                         {
 265                                 ao_flight_state = ao_flight_coast;
 266                                 ao_wakeup(&ao_flight_state);
 267                         } else
 268                                 goto check_re_boost;
 269                         break;
 270 #endif
 271                 case ao_flight_coast:
 272
 273                         /*
 274                          * By customer request - allow the user
 275                          * to lock out apogee detection for a specified
 276                          * number of seconds.
 277                          */
 278                         if (ao_config.apogee_lockout) {
 279                                 if ((int16_t) (ao_sample_tick - ao_launch_tick) <
 280                                     AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 281                                         break;
 282                         }
 283
 284                         /* apogee detect: coast to drogue deploy:
 285                          *
 286                          * speed: < 0
 287                          *
 288                          * Also make sure the model altitude is tracking
 289                          * the measured altitude reasonably closely; otherwise
 290                          * we're probably transsonic.
 291                          */
 292 #define AO_ERROR_BOUND  100
 293
 294                         if (ao_speed < 0
 295 #if !HAS_ACCEL
 296                             && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND)
 297 #endif
 298                                 )
 299                         {
 300 #if HAS_IGNITE
 301                                 /* ignite the drogue charge */
 302                                 ao_ignite(ao_igniter_drogue);
 303 #endif
 304
 305 #if HAS_TELEMETRY
 306                                 /* slow down the telemetry system */
 307                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 308
 309                                 /* Turn the RDF beacon back on */
 310                                 ao_rdf_set(1);
 311 #endif
 312
 313                                 /* and enter drogue state */
 314                                 ao_flight_state = ao_flight_drogue;
 315                                 ao_wakeup(&ao_flight_state);
 316                         }
 317 #if HAS_ACCEL
 318                         else {
 319                         check_re_boost:
 320                                 ao_coast_avg_accel = ao_coast_avg_accel + ((ao_accel - ao_coast_avg_accel) >> 5);
 321                                 if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
 322                                         ao_boost_tick = ao_sample_tick;
 323                                         ao_flight_state = ao_flight_boost;
 324                                         ao_wakeup(&ao_flight_state);
 325                                 }
 326                         }
 327 #endif
 328
 329                         break;
 330                 case ao_flight_drogue:
 331
 332                         /* drogue to main deploy:
 333                          *
 334                          * barometer: reach main deploy altitude
 335                          *
 336                          * Would like to use the accelerometer for this test, but
 337                          * the orientation of the flight computer is unknown after
 338                          * drogue deploy, so we ignore it. Could also detect
 339                          * high descent rate using the pressure sensor to
 340                          * recognize drogue deploy failure and eject the main
 341                          * at that point. Perhaps also use the drogue sense lines
 342                          * to notice continutity?
 343                          */
 344                         if (ao_height <= ao_config.main_deploy)
 345                         {
 346 #if HAS_IGNITE
 347                                 ao_ignite(ao_igniter_main);
 348 #endif
 349
 350                                 /*
 351                                  * Start recording min/max height
 352                                  * to figure out when the rocket has landed
 353                                  */
 354
 355                                 /* initialize interval values */
 356                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 357
 358                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 359
 360                                 ao_flight_state = ao_flight_main;
 361                                 ao_wakeup(&ao_flight_state);
 362                         }
 363                         break;
 364
 365                         /* fall through... */
 366                 case ao_flight_main:
 367
 368                         /* main to land:
 369                          *
 370                          * barometer: altitude stable
 371                          */
 372
 373                         if (ao_avg_height < ao_interval_min_height)
 374                                 ao_interval_min_height = ao_avg_height;
 375                         if (ao_avg_height > ao_interval_max_height)
 376                                 ao_interval_max_height = ao_avg_height;
 377
 378                         if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
 379                                 if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
 380                                 {
 381                                         ao_flight_state = ao_flight_landed;
 382
 383 #if HAS_ADC
 384                                         /* turn off the ADC capture */
 385                                         ao_timer_set_adc_interval(0);
 386 #endif
 387
 388                                         ao_wakeup(&ao_flight_state);
 389                                 }
 390                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 391                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 392                         }
 393                         break;
 394 #if HAS_FLIGHT_DEBUG
 395                 case ao_flight_test:
 396 #if HAS_GYRO
 397                         printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
 398                                 ao_sample_orient,
 399                                 ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
 400                                 ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
 401                                 ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
 402 #endif
 403                         flush();
 404                         break;
 405 #endif /* HAS_FLIGHT_DEBUG */
 406                 default:
 407                         break;
 408                 }
 409         }
 410 }
 411
 412 #if HAS_FLIGHT_DEBUG
 413 static inline int int_part(ao_v_t i)    { return i >> 4; }
 414 static inline int frac_part(ao_v_t i)   { return ((i & 0xf) * 100 + 8) / 16; }
 415
 416 static void
 417 ao_flight_dump(void)
 418 {
 419 #if HAS_ACCEL
 420         ao_v_t  accel;
 421
 422         accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
 423 #endif
 424
 425         printf ("sample:\n");
 426         printf ("  tick        %d\n", ao_sample_tick);
 427         printf ("  raw pres    %d\n", ao_sample_pres);
 428 #if HAS_ACCEL
 429         printf ("  raw accel   %d\n", ao_sample_accel);
 430 #endif
 431         printf ("  ground pres %d\n", ao_ground_pres);
 432         printf ("  ground alt  %d\n", ao_ground_height);
 433 #if HAS_ACCEL
 434         printf ("  raw accel   %d\n", ao_sample_accel);
 435         printf ("  groundaccel %d\n", ao_ground_accel);
 436         printf ("  accel_2g    %d\n", ao_accel_2g);
 437 #endif
 438
 439         printf ("  alt         %d\n", ao_sample_alt);
 440         printf ("  height      %d\n", ao_sample_height);
 441 #if HAS_ACCEL
 442         printf ("  accel       %d.%02d\n", int_part(accel), frac_part(accel));
 443 #endif
 444
 445
 446         printf ("kalman:\n");
 447         printf ("  height      %d\n", ao_height);
 448         printf ("  speed       %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
 449         printf ("  accel       %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
 450         printf ("  max_height  %d\n", ao_max_height);
 451         printf ("  avg_height  %d\n", ao_avg_height);
 452         printf ("  error_h     %d\n", ao_error_h);
 453 #if !HAS_ACCEL
 454         printf ("  error_avg   %d\n", ao_error_h_sq_avg);
 455 #endif
 456 }
 457
 458 static void
 459 ao_gyro_test(void)
 460 {
 461         ao_flight_state = ao_flight_test;
 462         ao_getchar();
 463         ao_flight_state = ao_flight_idle;
 464 }
 465
 466 uint8_t ao_orient_test;
 467
 468 static void
 469 ao_orient_test_select(void)
 470 {
 471         ao_orient_test = !ao_orient_test;
 472 }
 473
 474 const struct ao_cmds ao_flight_cmds[] = {
 475         { ao_flight_dump,       "F\0Dump flight status" },
 476         { ao_gyro_test,         "G\0Test gyro code" },
 477         { ao_orient_test_select,"O\0Test orientation code" },
 478         { 0, NULL },
 479 };
 480 #endif
 481
 482 static struct ao_task   flight_task;
 483
 484 void
 485 ao_flight_init(void)
 486 {
 487         ao_flight_state = ao_flight_startup;
 488 #if HAS_FLIGHT_DEBUG
 489         ao_cmd_register(&ao_flight_cmds[0]);
 490 #endif
 491         ao_add_task(&flight_task, ao_flight, "flight");
 492 }