2 * Copyright © 2012 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_MICROPEAK_H_
19 #define _AO_MICROPEAK_H_
21 #define SAMPLE_SLEEP AO_MS_TO_TICKS(96)
23 /* 16 sample, or about two seconds worth */
24 #define GROUND_AVG_SHIFT 4
25 #define GROUND_AVG (1 << GROUND_AVG_SHIFT)
27 /* Pressure change (in Pa) to detect boost */
28 #define BOOST_DETECT 120 /* 10m at sea level, 12m at 2000m */
30 /* Wait after power on before doing anything to give the user time to assemble the rocket */
31 #define BOOST_DELAY AO_SEC_TO_TICKS(30)
33 /* Pressure change (in Pa) to detect landing */
34 #define LAND_DETECT 24 /* 2m at sea level, 2.4m at 2000m */
36 /* Current sensor pressure value */
39 /* Average pressure value on ground */
40 extern uint32_t pa_ground;
42 /* Minimum recorded filtered pressure value */
43 extern uint32_t pa_min;
45 /* Pressure values converted to altitudes */
46 extern alt_t ground_alt, max_alt;
48 /* max_alt - ground_alt */
49 extern alt_t ao_max_height;
57 #define ACCEL_LOCK_PA -20
58 #define ACCEL_LOCK_TIME 10
60 extern uint32_t ao_k_pa; /* 24.8 fixed point */
61 extern int32_t ao_k_pa_speed; /* 16.16 fixed point */
62 extern int32_t ao_k_pa_accel; /* 16.16 fixed point */
64 extern uint32_t ao_pa; /* integer portion */
65 extern int16_t ao_pa_speed; /* integer portion */
66 extern int16_t ao_pa_accel; /* integer portion */
69 ao_microkalman_init(void);
72 ao_microkalman_predict(void);
75 ao_microkalman_correct(void);