2 * Copyright © 2014 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.
19 #include <ao_flight.h>
20 #include <ao_distance.h>
23 enum ao_flight_state ao_flight_state;
25 /* Speeds for the various modes, 2m/s seems reasonable for 'not moving' */
26 #define AO_TRACKER_NOT_MOVING 200
28 static uint8_t ao_tracker_force_telem;
32 ao_usb_connected(void)
34 return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0;
37 #define ao_usb_connected() 1
40 #define STARTUP_AVERAGE 5
45 uint16_t telem_rate = AO_SEC_TO_TICKS(1), new_telem_rate;
46 uint8_t gps_rate = 1, new_gps_rate;
47 uint8_t telem_enabled = 1, new_telem_enabled;
48 int32_t start_latitude = 0, start_longitude = 0;
49 int16_t start_altitude = 0;
50 uint32_t ground_distance;
53 int64_t lat_sum = 0, lon_sum = 0;
58 ao_timer_set_adc_interval(100);
65 ao_telemetry_set_interval(0);
67 ao_flight_state = ao_flight_startup;
69 ao_sleep(&ao_gps_new);
71 new_gps_rate = gps_rate;
72 new_telem_rate = telem_rate;
74 new_telem_enabled = ao_tracker_force_telem || !ao_usb_connected();
76 ao_mutex_get(&ao_gps_mutex);
78 /* Don't change anything if GPS isn't locked */
79 if ((ao_gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
80 (AO_GPS_VALID|AO_GPS_COURSE_VALID))
82 switch (ao_flight_state) {
83 case ao_flight_startup:
84 /* startup to pad when GPS locks */
86 lat_sum += ao_gps_data.latitude;
87 lon_sum += ao_gps_data.longitude;
88 alt_sum += ao_gps_data.altitude;
90 if (++nsamples >= STARTUP_AVERAGE) {
91 ao_flight_state = ao_flight_pad;
92 ao_wakeup(&ao_flight_state);
93 start_latitude = lat_sum / nsamples;
94 start_longitude = lon_sum / nsamples;
95 start_altitude = alt_sum / nsamples;
99 ground_distance = ao_distance(ao_gps_data.latitude,
100 ao_gps_data.longitude,
103 height = ao_gps_data.altitude - start_altitude;
107 if (ground_distance >= ao_config.tracker_start_horiz ||
108 height >= ao_config.tracker_start_vert)
110 ao_flight_state = ao_flight_drogue;
114 case ao_flight_drogue:
116 /* Modulate data rates based on speed (in cm/s) */
117 if (ao_gps_data.climb_rate < 0)
118 speed = -ao_gps_data.climb_rate;
120 speed = ao_gps_data.climb_rate;
121 speed += ao_gps_data.ground_speed;
123 if (speed < AO_TRACKER_NOT_MOVING) {
124 new_telem_rate = AO_SEC_TO_TICKS(10);
127 new_telem_rate = AO_SEC_TO_TICKS(1);
135 ao_mutex_put(&ao_gps_mutex);
137 if (new_telem_rate != telem_rate || new_telem_enabled != telem_enabled) {
138 if (new_telem_enabled)
139 ao_telemetry_set_interval(new_telem_rate);
141 ao_telemetry_set_interval(0);
142 telem_rate = new_telem_rate;
143 telem_enabled = new_telem_enabled;
146 if (new_gps_rate != gps_rate) {
147 ao_gps_set_rate(new_gps_rate);
148 gps_rate = new_gps_rate;
153 static struct ao_task ao_tracker_task;
156 ao_tracker_set_telem(void)
159 if (ao_cmd_status == ao_cmd_success)
160 ao_tracker_force_telem = ao_cmd_lex_i;
163 static const struct ao_cmds ao_tracker_cmds[] = {
164 { ao_tracker_set_telem, "t <d>\0Set telem on USB" },
169 ao_tracker_init(void)
172 ao_enable_input(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, 0);
174 ao_cmd_register(&ao_tracker_cmds[0]);
175 ao_add_task(&ao_tracker_task, ao_tracker, "tracker");