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