+++ /dev/null
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include "ao.h"
-#include <ao_log.h>
-#endif
-
-#if HAS_MPU6000
-#include <ao_quaternion.h>
-#endif
-
-#ifndef HAS_ACCEL
-#error Please define HAS_ACCEL
-#endif
-
-#ifndef HAS_GPS
-#error Please define HAS_GPS
-#endif
-
-#ifndef HAS_USB
-#error Please define HAS_USB
-#endif
-
-#ifndef HAS_TELEMETRY
-#define HAS_TELEMETRY HAS_RADIO
-#endif
-
-/* Main flight thread. */
-
-__pdata enum ao_flight_state ao_flight_state; /* current flight state */
-__pdata uint16_t ao_boost_tick; /* time of launch detect */
-__pdata uint16_t ao_motor_number; /* number of motors burned so far */
-
-#if HAS_SENSOR_ERRORS
-/* Any sensor can set this to mark the flight computer as 'broken' */
-__xdata uint8_t ao_sensor_errors;
-#endif
-
-/*
- * track min/max data over a long interval to detect
- * resting
- */
-static __data uint16_t ao_interval_end;
-static __data int16_t ao_interval_min_height;
-static __data int16_t ao_interval_max_height;
-#if HAS_ACCEL
-static __data int16_t ao_coast_avg_accel;
-#endif
-
-__pdata uint8_t ao_flight_force_idle;
-
-/* We also have a clock, which can be used to sanity check things in
- * case of other failures
- */
-
-#define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
-
-/* Landing is detected by getting constant readings from both pressure and accelerometer
- * for a fairly long time (AO_INTERVAL_TICKS)
- */
-#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(10)
-
-#define abs(a) ((a) < 0 ? -(a) : (a))
-
-void
-ao_flight(void)
-{
- ao_sample_init();
- ao_flight_state = ao_flight_startup;
- for (;;) {
-
- /*
- * Process ADC samples, just looping
- * until the sensors are calibrated.
- */
- if (!ao_sample())
- continue;
-
- switch (ao_flight_state) {
- case ao_flight_startup:
-
- /* 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
- */
-#if HAS_ACCEL
- if (ao_config.accel_plus_g == 0 ||
- ao_config.accel_minus_g == 0 ||
- ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
- ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
- ao_ground_height < -1000 ||
- ao_ground_height > 7000)
- {
- /* 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;
-
-#if HAS_RADIO && PACKET_HAS_SLAVE
- /* Turn on packet system in invalid mode on TeleMetrum */
- ao_packet_slave_start();
-#endif
- } else
-#endif
- if (!ao_flight_force_idle
-#if HAS_ACCEL
- && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
-#endif
- )
- {
- /* Set pad mode - we can fly! */
- ao_flight_state = ao_flight_pad;
-#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
- /* Disable the USB controller in flight mode
- * to save power
- */
- ao_usb_disable();
-#endif
-
-#if !HAS_ACCEL && PACKET_HAS_SLAVE
- /* Disable packet mode in pad state on TeleMini */
- ao_packet_slave_stop();
-#endif
-
-#if HAS_TELEMETRY
- /* Turn on telemetry system */
- ao_rdf_set(1);
- ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
-#endif
-#if AO_LED_RED
- /* signal successful initialization by turning off the LED */
- ao_led_off(AO_LED_RED);
-#endif
- } else {
- /* Set idle mode */
- ao_flight_state = ao_flight_idle;
-#if HAS_SENSOR_ERRORS
- if (ao_sensor_errors)
- ao_flight_state = ao_flight_invalid;
-#endif
-
-#if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
- /* Turn on packet system in idle mode on TeleMetrum */
- ao_packet_slave_start();
-#endif
-
-#if AO_LED_RED
- /* signal successful initialization by turning off the LED */
- ao_led_off(AO_LED_RED);
-#endif
- }
- /* wakeup threads due to state change */
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-
- break;
- case ao_flight_pad:
-
- /* pad to boost:
- *
- * barometer: > 20m vertical motion
- * OR
- * accelerometer: > 2g AND velocity > 5m/s
- *
- * The accelerometer should always detect motion before
- * the barometer, but we use both to make sure this
- * transition is detected. If the device
- * doesn't have an accelerometer, then ignore the
- * speed and acceleration as they are quite noisy
- * on the pad.
- */
- if (ao_height > AO_M_TO_HEIGHT(20)
-#if HAS_ACCEL
- || (ao_accel > AO_MSS_TO_ACCEL(20) &&
- ao_speed > AO_MS_TO_SPEED(5))
-#endif
- )
- {
- ao_flight_state = ao_flight_boost;
- ao_boost_tick = ao_sample_tick;
-
- /* start logging data */
- ao_log_start();
-
-#if HAS_TELEMETRY
- /* Increase telemetry rate */
- ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
-
- /* disable RDF beacon */
- ao_rdf_set(0);
-#endif
-
-#if HAS_GPS
- /* Record current GPS position by waking up GPS log tasks */
- ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
- ao_wakeup(&ao_gps_new);
-#endif
-
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- break;
- case ao_flight_boost:
-
- /* boost to fast:
- *
- * accelerometer: start to fall at > 1/4 G
- * OR
- * time: boost for more than 15 seconds
- *
- * Detects motor burn out by the switch from acceleration to
- * deceleration, or by waiting until the maximum burn duration
- * (15 seconds) has past.
- */
- if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
- (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
- {
-#if HAS_ACCEL
- ao_flight_state = ao_flight_fast;
- ao_coast_avg_accel = ao_accel;
-#else
- ao_flight_state = ao_flight_coast;
-#endif
- ++ao_motor_number;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- break;
-#if HAS_ACCEL
- case ao_flight_fast:
- /*
- * This is essentially the same as coast,
- * but the barometer is being ignored as
- * it may be unreliable.
- */
- if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
- {
- ao_flight_state = ao_flight_coast;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- } else
- goto check_re_boost;
- break;
-#endif
- case ao_flight_coast:
-
- /*
- * By customer request - allow the user
- * to lock out apogee detection for a specified
- * number of seconds.
- */
- if (ao_config.apogee_lockout) {
- if ((ao_sample_tick - ao_boost_tick) <
- AO_SEC_TO_TICKS(ao_config.apogee_lockout))
- break;
- }
-
- /* apogee detect: coast to drogue deploy:
- *
- * speed: < 0
- *
- * Also make sure the model altitude is tracking
- * the measured altitude reasonably closely; otherwise
- * we're probably transsonic.
- */
- if (ao_speed < 0
-#if !HAS_ACCEL
- && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
-#endif
- )
- {
-#if HAS_IGNITE
- /* ignite the drogue charge */
- ao_ignite(ao_igniter_drogue);
-#endif
-
-#if HAS_TELEMETRY
- /* slow down the telemetry system */
- ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
-
- /* Turn the RDF beacon back on */
- ao_rdf_set(1);
-#endif
-
- /* and enter drogue state */
- ao_flight_state = ao_flight_drogue;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
-#if HAS_ACCEL
- else {
- check_re_boost:
- ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
- if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
- ao_boost_tick = ao_sample_tick;
- ao_flight_state = ao_flight_boost;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- }
-#endif
-
- break;
- case ao_flight_drogue:
-
- /* drogue to main deploy:
- *
- * barometer: reach main deploy altitude
- *
- * Would like to use the accelerometer for this test, but
- * the orientation of the flight computer is unknown after
- * drogue deploy, so we ignore it. Could also detect
- * high descent rate using the pressure sensor to
- * recognize drogue deploy failure and eject the main
- * at that point. Perhaps also use the drogue sense lines
- * to notice continutity?
- */
- if (ao_height <= ao_config.main_deploy)
- {
-#if HAS_IGNITE
- ao_ignite(ao_igniter_main);
-#endif
-
- /*
- * Start recording min/max height
- * to figure out when the rocket has landed
- */
-
- /* initialize interval values */
- ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
-
- ao_interval_min_height = ao_interval_max_height = ao_avg_height;
-
- ao_flight_state = ao_flight_main;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- break;
-
- /* fall through... */
- case ao_flight_main:
-
- /* main to land:
- *
- * barometer: altitude stable
- */
-
- if (ao_avg_height < ao_interval_min_height)
- ao_interval_min_height = ao_avg_height;
- if (ao_avg_height > ao_interval_max_height)
- ao_interval_max_height = ao_avg_height;
-
- if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
- if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
- {
- ao_flight_state = ao_flight_landed;
-
- /* turn off the ADC capture */
- ao_timer_set_adc_interval(0);
-
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- ao_interval_min_height = ao_interval_max_height = ao_avg_height;
- ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
- }
- break;
-#if HAS_FLIGHT_DEBUG
- case ao_flight_test:
-#if HAS_GYRO
- printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
- ao_sample_orient,
- ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
- ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
- ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
-#endif
- flush();
- break;
-#endif /* HAS_FLIGHT_DEBUG */
- default:
- break;
- }
- }
-}
-
-#if HAS_FLIGHT_DEBUG
-static inline int int_part(int16_t i) { return i >> 4; }
-static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; }
-
-static void
-ao_flight_dump(void)
-{
-#if HAS_ACCEL
- int16_t accel;
-
- accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
-#endif
-
- printf ("sample:\n");
- printf (" tick %d\n", ao_sample_tick);
- printf (" raw pres %d\n", ao_sample_pres);
-#if HAS_ACCEL
- printf (" raw accel %d\n", ao_sample_accel);
-#endif
- printf (" ground pres %d\n", ao_ground_pres);
- printf (" ground alt %d\n", ao_ground_height);
-#if HAS_ACCEL
- printf (" raw accel %d\n", ao_sample_accel);
- printf (" groundaccel %d\n", ao_ground_accel);
- printf (" accel_2g %d\n", ao_accel_2g);
-#endif
-
- printf (" alt %d\n", ao_sample_alt);
- printf (" height %d\n", ao_sample_height);
-#if HAS_ACCEL
- printf (" accel %d.%02d\n", int_part(accel), frac_part(accel));
-#endif
-
-
- printf ("kalman:\n");
- printf (" height %d\n", ao_height);
- printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
- printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
- printf (" max_height %d\n", ao_max_height);
- printf (" avg_height %d\n", ao_avg_height);
- printf (" error_h %d\n", ao_error_h);
- printf (" error_avg %d\n", ao_error_h_sq_avg);
-}
-
-static void
-ao_gyro_test(void)
-{
- ao_flight_state = ao_flight_test;
- ao_getchar();
- ao_flight_state = ao_flight_idle;
-}
-
-uint8_t ao_orient_test;
-
-static void
-ao_orient_test_select(void)
-{
- ao_orient_test = !ao_orient_test;
-}
-
-__code struct ao_cmds ao_flight_cmds[] = {
- { ao_flight_dump, "F\0Dump flight status" },
- { ao_gyro_test, "G\0Test gyro code" },
- { ao_orient_test_select,"O\0Test orientation code" },
- { 0, NULL },
-};
-#endif
-
-static __xdata struct ao_task flight_task;
-
-void
-ao_flight_init(void)
-{
- ao_flight_state = ao_flight_startup;
-#if HAS_FLIGHT_DEBUG
- ao_cmd_register(&ao_flight_cmds[0]);
-#endif
- ao_add_task(&flight_task, ao_flight, "flight");
-}