__pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres;
__pdata int16_t ao_accel_2g;
+__xdata uint8_t ao_flight_force_idle;
+
/* Accelerometer calibration
*
* We're sampling the accelerometer through a resistor divider which
#define ACCEL_VEL_MACH VEL_MPS_TO_COUNT(200)
#define ACCEL_VEL_BOOST VEL_MPS_TO_COUNT(5)
-int32_t accel_vel_mach;
-int32_t accel_vel_boost;
-
/*
* Barometer calibration
*
ao_raw_pres = 0;
ao_flight_tick = 0;
for (;;) {
- ao_sleep(&ao_adc_ring);
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_adc));
+ ao_sleep(DATA_TO_XDATA(&ao_adc_head));
while (ao_flight_adc != ao_adc_head) {
__pdata uint8_t ticks;
__pdata int16_t ao_vel_change;
/* startup state:
*
- * Collect 1000 samples of acceleration and pressure
+ * Collect 512 samples of acceleration and pressure
* data and average them to find the resting values
*/
- if (nsamples < 1000) {
+ if (nsamples < 512) {
ao_raw_accel_sum += ao_raw_accel;
ao_raw_pres_sum += ao_raw_pres;
++nsamples;
continue;
}
- ao_ground_accel = (ao_raw_accel_sum / nsamples);
- ao_ground_pres = (ao_raw_pres_sum / nsamples);
+ ao_ground_accel = ao_raw_accel_sum >> 9;
+ ao_ground_pres = ao_raw_pres_sum >> 9;
ao_min_pres = ao_ground_pres;
ao_config_get();
ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
- accel_vel_mach = ACCEL_VEL_MACH;
- accel_vel_boost = ACCEL_VEL_BOOST;
ao_flight_vel = 0;
ao_min_vel = 0;
ao_old_vel = ao_flight_vel;
ao_old_vel_tick = ao_flight_tick;
- /* Go to pad state if the nose is pointing up */
+ /* Check to see what mode we should go to.
+ * - Invalid mode if accel cal appears to be out
+ * - pad mode if we're upright,
+ * - idle mode otherwise
+ */
ao_config_get();
- if (ao_config.accel_plus_g != 0 && ao_config.accel_minus_g != 0 &&
- ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP)
+ if (ao_config.accel_plus_g == 0 ||
+ ao_config.accel_minus_g == 0 ||
+ ao_flight_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
+ ao_flight_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
{
+ /* Detected an accel value outside -1.5g to 1.5g
+ * (or uncalibrated values), so we go into invalid mode
+ */
+ ao_flight_state = ao_flight_invalid;
+ /* Allow packet mode in invalid flight state,
+ * Still need to be able to fix the problem!
+ */
+ ao_packet_slave_start();
+
+ } else if (ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP &&
+ !ao_flight_force_idle)
+ {
+ /* Set pad mode - we can fly! */
+ ao_flight_state = ao_flight_pad;
+
/* Disable the USB controller in flight mode
* to save power
*/
ao_usb_disable();
- /* Turn on telemetry system
- */
+ /* Turn on telemetry system */
ao_rdf_set(1);
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
- ao_flight_state = ao_flight_pad;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ /* signal successful initialization by turning off the LED */
+ ao_led_off(AO_LED_RED);
} else {
- ao_flight_state = ao_flight_idle;
-
- /* Turn on packet system in idle mode
- */
+ /* Set idle mode */
+ ao_flight_state = ao_flight_idle;
+
+ /* Turn on packet system in idle mode */
ao_packet_slave_start();
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+
+ /* signal successful initialization by turning off the LED */
+ ao_led_off(AO_LED_RED);
}
- /* signal successful initialization by turning off the LED */
- ao_led_off(AO_LED_RED);
+ /* wakeup threads due to state change */
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+
break;
case ao_flight_pad:
/* disable RDF beacon */
ao_rdf_set(0);
+ /* Record current GPS position by waking up GPS log tasks */
+ ao_wakeup(&ao_gps_data);
+ ao_wakeup(&ao_gps_tracking_data);
+
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
}
ao_flight_init(void)
{
ao_flight_state = ao_flight_startup;
- ao_interval_min_accel = 0;
- ao_interval_max_accel = 0x7fff;
- ao_interval_min_pres = 0;
- ao_interval_max_pres = 0x7fff;
- ao_interval_end = AO_INTERVAL_TICKS;
-
ao_add_task(&flight_task, ao_flight, "flight");
}