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; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
18 #ifndef AO_FLIGHT_TEST
21 #include <ao_micropeak.h>
22 #include <ao_log_micro.h>
32 ao_microkalman_predict();
33 ao_microkalman_correct();
36 #define NUM_PA_HIST (GROUND_AVG)
38 #define SKIP_PA_HIST(i,j) (((i) + (j)) & (NUM_PA_HIST - 1))
40 static uint32_t pa_hist[NUM_PA_HIST];
48 uint32_t pa_interval_min, pa_interval_max;
52 uint8_t accel_lock = 0;
55 /* Wait for motion, averaging values to get ground pressure */
59 ao_microkalman_init();
66 if ((sample_count & 0x1f) == 0)
67 ao_led_on(AO_LED_REPORT);
72 if ((sample_count & 0x1f) == 0)
73 ao_led_off(AO_LED_REPORT);
76 h = SKIP_PA_HIST(h,1);
77 pa_diff = pa_ground - ao_pa;
80 /* Check for a significant pressure change */
81 if (pa_diff > BOOST_DETECT)
85 if (sample_count < GROUND_AVG * 2) {
86 if (sample_count < GROUND_AVG)
90 pa_ground = pa_sum >> GROUND_AVG_SHIFT;
99 /* Go back and find the last sample close to the ground */
100 pa_min = pa_ground - LAND_DETECT;
101 for (i = SKIP_PA_HIST(h,-2); i != SKIP_PA_HIST(h,2); i = SKIP_PA_HIST(i,-2)) {
102 if (pa_hist[i] >= pa_min)
106 /* Log the remaining samples so we get a complete history since leaving the ground */
107 #if LOG_INTERVAL < NUM_PA_HIST
108 for (; i != h; i = SKIP_PA_HIST(i,2))
115 /* Now sit around until the pressure is stable again and record the max */
120 pa_interval_min = ao_pa;
121 pa_interval_max = ao_pa;
123 time += SAMPLE_SLEEP;
124 ao_delay_until(time);
125 if ((sample_count & 3) == 0)
126 ao_led_on(AO_LED_REPORT);
128 if ((sample_count & 3) == 0)
129 ao_led_off(AO_LED_REPORT);
130 if (log_count == LOG_INTERVAL - 1) {
136 /* If accelerating upwards, don't look for min pressure */
137 if (ao_pa_accel < ACCEL_LOCK_PA)
138 accel_lock = ACCEL_LOCK_TIME;
141 else if (ao_pa < pa_min)
144 if (sample_count == (GROUND_AVG - 1)) {
145 pa_diff = pa_interval_max - pa_interval_min;
147 /* Check to see if the pressure is now stable */
148 if (pa_diff < LAND_DETECT)
151 pa_interval_min = ao_pa;
152 pa_interval_max = ao_pa;
154 if (ao_pa < pa_interval_min)
155 pa_interval_min = ao_pa;
156 if (ao_pa > pa_interval_max)
157 pa_interval_max = ao_pa;