2 * Copyright © 2011 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
25 #include <ao_quaternion.h>
29 * Current sensor values
33 #define PRES_TYPE int32_t
34 #define ALT_TYPE int32_t
35 #define ACCEL_TYPE int16_t
38 uint16_t ao_sample_tick; /* time of last data */
40 pres_t ao_sample_pres;
42 alt_t ao_sample_height;
45 accel_t ao_sample_accel;
48 accel_t ao_sample_accel_along;
49 accel_t ao_sample_accel_across;
50 accel_t ao_sample_accel_through;
53 gyro_t ao_sample_roll;
54 gyro_t ao_sample_pitch;
56 angle_t ao_sample_orient;
57 angle_t ao_sample_orients[AO_NUM_ORIENT];
58 uint8_t ao_sample_orient_pos;
60 #ifdef HAS_MOTOR_PRESSURE
61 motor_pressure_t ao_sample_motor_pressure;
64 uint8_t ao_sample_data;
67 * Sensor calibration values
71 pres_t ao_ground_pres; /* startup pressure */
72 alt_t ao_ground_height; /* MSL of ao_ground_pres */
76 accel_t ao_ground_accel; /* startup acceleration */
77 accel_t ao_accel_2g; /* factory accel calibration */
78 int32_t ao_accel_scale; /* sensor to m/s² conversion */
82 accel_t ao_ground_accel_along;
83 accel_t ao_ground_accel_across;
84 accel_t ao_ground_accel_through;
88 int32_t ao_ground_pitch;
89 int32_t ao_ground_yaw;
90 int32_t ao_ground_roll;
93 #if HAS_MOTOR_PRESSURE
94 motor_pressure_t ao_ground_motor_pressure;
97 static uint8_t ao_preflight; /* in preflight mode */
99 static uint16_t nsamples;
101 int32_t ao_sample_pres_sum;
104 int32_t ao_sample_accel_sum;
107 int32_t ao_sample_accel_along_sum;
108 int32_t ao_sample_accel_across_sum;
109 int32_t ao_sample_accel_through_sum;
112 int32_t ao_sample_pitch_sum;
113 int32_t ao_sample_yaw_sum;
114 int32_t ao_sample_roll_sum;
115 static struct ao_quaternion ao_rotation;
117 #if HAS_MOTOR_PRESSURE
118 int32_t ao_sample_motor_pressure_sum;
122 extern uint8_t ao_orient_test;
126 ao_sample_preflight_add(void)
129 ao_sample_accel_sum += ao_sample_accel;
132 ao_sample_pres_sum += ao_sample_pres;
135 ao_sample_accel_along_sum += ao_sample_accel_along;
136 ao_sample_accel_across_sum += ao_sample_accel_across;
137 ao_sample_accel_through_sum += ao_sample_accel_through;
140 ao_sample_pitch_sum += ao_sample_pitch;
141 ao_sample_yaw_sum += ao_sample_yaw;
142 ao_sample_roll_sum += ao_sample_roll;
144 #if HAS_MOTOR_PRESSURE
145 ao_sample_motor_pressure_sum += ao_sample_motor_pressure;
152 ao_sample_set_all_orients(void)
155 for (i = 0; i < AO_NUM_ORIENT; i++)
156 ao_sample_orients[i] = ao_sample_orient;
157 ao_sample_orient_pos = 0;
161 ao_sample_set_one_orient(void)
163 ao_sample_orients[ao_sample_orient_pos] = ao_sample_orient;
164 ao_sample_orient_pos = (ao_sample_orient_pos + 1) % AO_NUM_ORIENT;
168 ao_sample_compute_orient(void)
170 /* Compute pitch angle from vertical by taking the pad
171 * orientation vector and rotating it by the current total
172 * rotation value. That will be a unit vector pointing along
173 * the airframe axis. The Z value will be the cosine of the
174 * change in the angle from vertical since boost.
176 * rot = ao_rotation * vertical * ao_rotation°
177 * rot = ao_rotation * (0,0,0,1) * ao_rotation°
178 * = ((a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z
180 * = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r)
181 * = a.z² - a.y² - a.x² + a.r²
183 * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation°
184 * = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z
186 * = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r)
187 * = -a.z² + a.y² + a.x² - a.r²
191 rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
193 ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
195 #endif /* HAS_GYRO */
198 ao_sample_preflight_set(void)
201 ao_ground_accel = ao_sample_accel_sum >> 9;
202 ao_sample_accel_sum = 0;
205 ao_ground_pres = ao_sample_pres_sum >> 9;
206 ao_ground_height = pres_to_altitude(ao_ground_pres);
207 ao_sample_pres_sum = 0;
210 ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
211 ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
212 ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
213 ao_sample_accel_along_sum = 0;
214 ao_sample_accel_across_sum = 0;
215 ao_sample_accel_through_sum = 0;
217 #if HAS_MOTOR_PRESSURE
218 ao_ground_motor_pressure = ao_sample_motor_pressure_sum >> 9;
219 ao_sample_motor_pressure_sum = 0;
222 ao_ground_pitch = ao_sample_pitch_sum;
223 ao_ground_yaw = ao_sample_yaw_sum;
224 ao_ground_roll = ao_sample_roll_sum;
225 ao_sample_pitch_sum = 0;
226 ao_sample_yaw_sum = 0;
227 ao_sample_roll_sum = 0;
228 ao_sample_set_all_orients();
230 struct ao_quaternion orient;
232 /* Take the pad IMU acceleration values and compute our current direction
235 ao_quaternion_init_vector(&orient,
236 (ao_ground_accel_across - ao_config.accel_zero_across),
237 (ao_ground_accel_through - ao_config.accel_zero_through),
238 (ao_ground_accel_along - ao_config.accel_zero_along));
240 ao_quaternion_normalize(&orient,
245 struct ao_quaternion up = { .r = 0, .x = 0, .y = 0, .z = 1 };
247 if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
250 /* Compute rotation to get from up to our current orientation, set
251 * that as the current rotation vector
253 ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
256 printf("\n\treset across %d through %d along %d\n",
257 (ao_ground_accel_across - ao_config.accel_zero_across),
258 (ao_ground_accel_through - ao_config.accel_zero_through),
259 (ao_ground_accel_along - ao_config.accel_zero_along));
262 ao_sample_compute_orient();
263 ao_sample_set_all_orients();
270 #define TIME_DIV 200.0f
273 ao_sample_rotate(void)
275 #ifdef AO_FLIGHT_TEST
276 float dt = (int16_t) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
278 static const float dt = 1/TIME_DIV;
280 float x = ao_convert_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
281 float y = ao_convert_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
282 float z = ao_convert_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
283 struct ao_quaternion rot;
285 ao_quaternion_init_half_euler(&rot, x, y, z);
286 ao_quaternion_multiply(&ao_rotation, &rot, &ao_rotation);
288 /* And normalize to make sure it remains a unit vector */
289 ao_quaternion_normalize(&ao_rotation, &ao_rotation);
292 if (ao_orient_test) {
293 printf ("rot %d %d %d orient %d \r",
300 ao_sample_compute_orient();
301 ao_sample_set_one_orient();
306 ao_sample_preflight(void)
310 * Collect 512 samples of acceleration and pressure
311 * data and average them to find the resting values
313 if (nsamples < 512) {
314 ao_sample_preflight_add();
317 ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
318 ao_accel_scale = to_fix_32(GRAVITY * 2 * 16) / ao_accel_2g;
320 ao_sample_preflight_set();
321 ao_preflight = false;
326 * While in pad mode, constantly update the ground state by
327 * re-averaging the data. This tracks changes in orientation, which
328 * might be caused by adjustments to the rocket on the pad and
329 * pressure, which might be caused by changes in the weather.
333 ao_sample_preflight_update(void)
336 ao_sample_preflight_add();
337 else if (nsamples < 1024)
340 ao_sample_preflight_set();
342 if ((nsamples & 0x3f) == 0)
343 ao_kalman_reset_accumulate();
349 static int32_t p_filt;
350 static int32_t y_filt;
352 static gyro_t inline ao_gyro(void) {
353 gyro_t p = ao_sample_pitch - ao_ground_pitch;
354 gyro_t y = ao_sample_yaw - ao_ground_yaw;
356 p_filt = p_filt - (p_filt >> 6) + p;
357 y_filt = y_filt - (y_filt >> 6) + y;
361 return ao_sqrt(p*p + y*y);
369 ao_wakeup(&ao_sample_data);
370 ao_sleep((void *) &ao_data_head);
371 while (ao_sample_data != ao_data_head) {
372 struct ao_data *ao_data;
374 /* Capture a sample */
375 ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data];
376 ao_sample_tick = ao_data->tick;
379 ao_data_pres_cook(ao_data);
380 ao_sample_pres = ao_data_pres(ao_data);
381 ao_sample_alt = pres_to_altitude(ao_sample_pres);
382 ao_sample_height = ao_sample_alt - ao_ground_height;
386 ao_sample_accel = ao_data_accel(ao_data);
389 ao_sample_accel_along = ao_data_along(ao_data);
390 ao_sample_accel_across = ao_data_across(ao_data);
391 ao_sample_accel_through = ao_data_through(ao_data);
394 ao_sample_pitch = ao_data_pitch(ao_data);
395 ao_sample_yaw = ao_data_yaw(ao_data);
396 ao_sample_roll = ao_data_roll(ao_data);
398 #if HAS_MOTOR_PRESSURE
399 ao_sample_motor_pressure = ao_data_motor_pressure(ao_data);
403 ao_sample_preflight();
405 if (ao_flight_state < ao_flight_boost)
406 ao_sample_preflight_update();
412 #ifdef AO_FLIGHT_TEST
413 ao_sample_prev_tick = ao_sample_tick;
415 ao_sample_data = ao_data_ring_next(ao_sample_data);
417 return !ao_preflight;
426 ao_sample_pres_sum = 0;
430 ao_sample_accel_sum = 0;
434 ao_sample_accel_along_sum = 0;
435 ao_sample_accel_across_sum = 0;
436 ao_sample_accel_through_sum = 0;
437 ao_sample_accel_along = 0;
438 ao_sample_accel_across = 0;
439 ao_sample_accel_through = 0;
442 ao_sample_pitch_sum = 0;
443 ao_sample_yaw_sum = 0;
444 ao_sample_roll_sum = 0;
448 ao_sample_orient = 0;
449 ao_sample_set_all_orients();
451 ao_sample_data = ao_data_head;