2 * Copyright © 2013 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
22 #include <ao_micropeak.h>
23 #include <ao_log_micro.h>
27 uint32_t pa_ground_next;
34 ao_microkalman_predict();
35 ao_microkalman_correct();
38 #define NUM_PA_HIST (GROUND_AVG)
40 #define SKIP_PA_HIST(i,j) (((i) + (j)) & (NUM_PA_HIST - 1))
42 static uint32_t pa_hist[NUM_PA_HIST];
50 uint32_t pa_interval_min, pa_interval_max;
54 uint8_t accel_lock = 0;
57 /* Wait for motion, averaging values to get ground pressure */
61 ao_microkalman_init();
62 pa_ground_next = pa_ground = pa;
68 if ((sample_count & 0x1f) == 0)
69 ao_led_on(AO_LED_REPORT);
74 if ((sample_count & 0x1f) == 0)
75 ao_led_off(AO_LED_REPORT);
78 h = SKIP_PA_HIST(h,1);
79 pa_diff = (int32_t) (pa_ground - ao_pa);
82 /* Check for a significant pressure change */
83 if (pa_diff > BOOST_DETECT)
87 if (sample_count < GROUND_AVG * 2) {
88 if (sample_count < GROUND_AVG)
92 pa_ground = pa_ground_next;
93 pa_ground_next = pa_sum >> GROUND_AVG_SHIFT;
102 /* Go back and find the last sample close to the ground */
103 pa_min = pa_ground - LAND_DETECT;
104 for (i = SKIP_PA_HIST(h,-2); i != SKIP_PA_HIST(h,2); i = SKIP_PA_HIST(i,-2)) {
105 if (pa_hist[i] >= pa_min)
109 /* Log the remaining samples so we get a complete history since leaving the ground */
110 #if LOG_INTERVAL < NUM_PA_HIST
111 for (; i != h; i = SKIP_PA_HIST(i,2))
118 /* Now sit around until the pressure is stable again and record the max */
123 pa_interval_min = ao_pa;
124 pa_interval_max = ao_pa;
126 time += SAMPLE_SLEEP;
127 ao_delay_until(time);
128 if ((sample_count & 3) == 0)
129 ao_led_on(AO_LED_REPORT);
131 if ((sample_count & 3) == 0)
132 ao_led_off(AO_LED_REPORT);
133 if (log_count == LOG_INTERVAL - 1) {
139 /* If accelerating upwards, don't look for min pressure */
140 if (ao_pa_accel < ACCEL_LOCK_PA)
141 accel_lock = ACCEL_LOCK_TIME;
144 else if (ao_pa < pa_min)
147 if (sample_count == (GROUND_AVG - 1)) {
148 pa_diff = (int32_t) (pa_interval_max - pa_interval_min);
150 /* Check to see if the pressure is now stable */
151 if (pa_diff < LAND_DETECT)
154 pa_interval_min = ao_pa;
155 pa_interval_max = ao_pa;
157 if (ao_pa < pa_interval_min)
158 pa_interval_min = ao_pa;
159 if (ao_pa > pa_interval_max)
160 pa_interval_max = ao_pa;