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altos: oops -- 'e' command was only showing 7 of the 8 bytes per line
[fw/altos]
/
src
/
ao_flight.c
diff --git
a/src/ao_flight.c
b/src/ao_flight.c
index f50491d921b06cda84c709b9684a380774e68174..7fe85cb1522ac786579b824cd714c97dc088d9f3 100644
(file)
--- a/
src/ao_flight.c
+++ b/
src/ao_flight.c
@@
-50,6
+50,8
@@
__data uint8_t ao_flight_adc;
__pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres;
__pdata int16_t ao_accel_2g;
__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
/* Accelerometer calibration
*
* We're sampling the accelerometer through a resistor divider which
@@
-75,16
+77,13
@@
__pdata int16_t ao_accel_2g;
/* convert m/s to velocity count */
#define VEL_MPS_TO_COUNT(mps) (((int32_t) (((mps) / GRAVITY) * (AO_HERTZ/2))) * (int32_t) ao_accel_2g)
/* convert m/s to velocity count */
#define VEL_MPS_TO_COUNT(mps) (((int32_t) (((mps) / GRAVITY) * (AO_HERTZ/2))) * (int32_t) ao_accel_2g)
-#define ACCEL_G 265
-#define ACCEL_NOSE_UP (ao_accel_2g / 4)
+#define ACCEL_NOSE_UP (ao_accel_2g >> 2)
#define ACCEL_BOOST ao_accel_2g
#define ACCEL_BOOST ao_accel_2g
-#define ACCEL_INT_LAND (ACCEL_G / 10)
+#define ACCEL_COAST (ao_accel_2g >> 3)
+#define ACCEL_INT_LAND (ao_accel_2g >> 3)
#define ACCEL_VEL_MACH VEL_MPS_TO_COUNT(200)
#define ACCEL_VEL_BOOST VEL_MPS_TO_COUNT(5)
#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
*
/*
* Barometer calibration
*
@@
-132,7
+131,7
@@
__xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum;
/* Landing is detected by getting constant readings from both pressure and accelerometer
* for a fairly long time (AO_INTERVAL_TICKS)
*/
/* 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(
20
)
+#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(
5
)
#define abs(a) ((a) < 0 ? -(a) : (a))
#define abs(a) ((a) < 0 ? -(a) : (a))
@@
-212,8
+211,6
@@
ao_flight(void)
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;
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_flight_vel = 0;
ao_min_vel = 0;
ao_old_vel = ao_flight_vel;
@@
-221,8
+218,10
@@
ao_flight(void)
/* Go to pad state if the nose is pointing up */
ao_config_get();
/* Go to pad state if the nose is pointing up */
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_force_idle)
{
/* Disable the USB controller in flight mode
* to save power
{
/* Disable the USB controller in flight mode
* to save power
@@
-285,6
+284,10
@@
ao_flight(void)
/* disable RDF beacon */
ao_rdf_set(0);
/* 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_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
}
@@
-301,7
+304,7
@@
ao_flight(void)
* deceleration, or by waiting until the maximum burn duration
* (15 seconds) has past.
*/
* deceleration, or by waiting until the maximum burn duration
* (15 seconds) has past.
*/
- if (ao_flight_accel > ao_ground_accel +
(ACCEL_G >> 2)
||
+ if (ao_flight_accel > ao_ground_accel +
ACCEL_COAST
||
(int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
{
ao_flight_state = ao_flight_fast;
(int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
{
ao_flight_state = ao_flight_fast;
@@
-432,20
+435,20
@@
ao_flight(void)
ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
- }
- if ((uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND &&
- ao_flight_pres > ao_ground_pres - BARO_LAND &&
- (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND)
- {
- ao_flight_state = ao_flight_landed;
+
if ((uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND &&
+
ao_flight_pres > ao_ground_pres - BARO_LAND &&
+
(uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND)
+
{
+
ao_flight_state = ao_flight_landed;
- /* turn off the ADC capture */
- ao_timer_set_adc_interval(0);
- /* Enable RDF beacon */
- ao_rdf_set(1);
+
/* turn off the ADC capture */
+
ao_timer_set_adc_interval(0);
+
/* Enable RDF beacon */
+
ao_rdf_set(1);
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
}
break;
case ao_flight_landed:
}
break;
case ao_flight_landed:
@@
-460,11
+463,5
@@
void
ao_flight_init(void)
{
ao_flight_state = ao_flight_startup;
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");
}
ao_add_task(&flight_task, ao_flight, "flight");
}