projects
/
fw
/
altos
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
kernel: Widen pyro time values to 32 bits
[fw/altos]
/
src
/
kernel
/
ao_flight.c
diff --git
a/src/kernel/ao_flight.c
b/src/kernel/ao_flight.c
index afee1de710935b00c6a75e3b3f2498beb23be6a8..3c1067cb44e9e079675d863a2eb38368e096e733 100644
(file)
--- a/
src/kernel/ao_flight.c
+++ b/
src/kernel/ao_flight.c
@@
-102,6
+102,10
@@
uint8_t ao_flight_force_idle;
#define abs(a) ((a) < 0 ? -(a) : (a))
#define abs(a) ((a) < 0 ? -(a) : (a))
+#if !HAS_BARO
+// #define DEBUG_ACCEL_ONLY 1
+#endif
+
void
ao_flight(void)
{
void
ao_flight(void)
{
@@
-127,8
+131,8
@@
ao_flight(void)
#if HAS_ACCEL
if (ao_config.accel_plus_g == 0 ||
ao_config.accel_minus_g == 0 ||
#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_accel <
(accel_t)
ao_config.accel_plus_g - ACCEL_NOSE_UP ||
+ ao_ground_accel >
(accel_t)
ao_config.accel_minus_g + ACCEL_NOSE_UP
#if HAS_BARO
|| ao_ground_height < -1000 ||
ao_ground_height > 7000
#if HAS_BARO
|| ao_ground_height < -1000 ||
ao_ground_height > 7000
@@
-200,6
+204,15
@@
ao_flight(void)
ao_wakeup(&ao_flight_state);
break;
ao_wakeup(&ao_flight_state);
break;
+
+#if DEBUG_ACCEL_ONLY
+ case ao_flight_invalid:
+ case ao_flight_idle:
+ printf("+g %d ga %d sa %d accel %ld speed %ld\n",
+ ao_config.accel_plus_g, ao_ground_accel, ao_sample_accel, ao_accel, ao_speed);
+ break;
+#endif
+
case ao_flight_pad:
/* pad to boost:
*
case ao_flight_pad:
/* pad to boost:
*
@@
-216,12
+229,14
@@
ao_flight(void)
*/
if (ao_height > AO_M_TO_HEIGHT(20)
#if HAS_ACCEL
*/
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))
+ || (ao_accel > AO_MSS_TO_ACCEL(20)
+
&&
ao_speed > AO_MS_TO_SPEED(5))
#endif
)
{
ao_flight_state = ao_flight_boost;
#endif
)
{
ao_flight_state = ao_flight_boost;
+ ao_wakeup(&ao_flight_state);
+
ao_launch_tick = ao_boost_tick = ao_sample_tick;
/* start logging data */
ao_launch_tick = ao_boost_tick = ao_sample_tick;
/* start logging data */
@@
-242,8
+257,6
@@
ao_flight(void)
ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
ao_wakeup(&ao_gps_new);
#endif
ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
ao_wakeup(&ao_gps_new);
#endif
-
- ao_wakeup(&ao_flight_state);
}
break;
case ao_flight_boost:
}
break;
case ao_flight_boost:
@@
-278,8
+291,8
@@
ao_flight(void)
#else
ao_flight_state = ao_flight_coast;
#endif
#else
ao_flight_state = ao_flight_coast;
#endif
- ++ao_motor_number;
ao_wakeup(&ao_flight_state);
ao_wakeup(&ao_flight_state);
+ ++ao_motor_number;
}
break;
#if HAS_ACCEL && HAS_BARO
}
break;
#if HAS_ACCEL && HAS_BARO
@@
-327,11
+340,9
@@
ao_flight(void)
#endif
)
{
#endif
)
{
-#if HAS_IGNITE
- /* ignite the drogue charge */
- ao_ignite(ao_igniter_drogue);
-#endif
-
+ /* enter drogue state */
+ ao_flight_state = ao_flight_drogue;
+ ao_wakeup(&ao_flight_state);
#if HAS_TELEMETRY
/* slow down the telemetry system */
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
#if HAS_TELEMETRY
/* slow down the telemetry system */
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
@@
-339,10
+350,6
@@
ao_flight(void)
/* Turn the RDF beacon back on */
ao_rdf_set(1);
#endif
/* Turn the RDF beacon back on */
ao_rdf_set(1);
#endif
-
- /* and enter drogue state */
- ao_flight_state = ao_flight_drogue;
- ao_wakeup(&ao_flight_state);
}
else
#else /* not HAS_BARO */
}
else
#else /* not HAS_BARO */
@@
-362,12
+369,11
@@
ao_flight(void)
ao_interval_max_accel_through - ao_interval_min_accel_through <= ao_data_accel_to_sample(MAX_QUIET_ACCEL))
{
ao_flight_state = ao_flight_landed;
ao_interval_max_accel_through - ao_interval_min_accel_through <= ao_data_accel_to_sample(MAX_QUIET_ACCEL))
{
ao_flight_state = ao_flight_landed;
+ ao_wakeup(&ao_flight_state);
#if HAS_ADC
/* turn off the ADC capture */
ao_timer_set_adc_interval(0);
#endif
#if HAS_ADC
/* turn off the ADC capture */
ao_timer_set_adc_interval(0);
#endif
-
- ao_wakeup(&ao_flight_state);
}
/* Reset interval values */
}
/* Reset interval values */
@@
-410,9
+416,8
@@
ao_flight(void)
*/
if (ao_height <= ao_config.main_deploy)
{
*/
if (ao_height <= ao_config.main_deploy)
{
-#if HAS_IGNITE
- ao_ignite(ao_igniter_main);
-#endif
+ ao_flight_state = ao_flight_main;
+ ao_wakeup(&ao_flight_state);
/*
* Start recording min/max height
/*
* Start recording min/max height
@@
-423,9
+428,6
@@
ao_flight(void)
ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
ao_interval_min_height = ao_interval_max_height = ao_avg_height;
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(&ao_flight_state);
}
break;
}
break;
@@
-445,13
+447,11
@@
ao_flight(void)
if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
{
ao_flight_state = ao_flight_landed;
if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
{
ao_flight_state = ao_flight_landed;
-
+ ao_wakeup(&ao_flight_state);
#if HAS_ADC
/* turn off the ADC capture */
ao_timer_set_adc_interval(0);
#endif
#if HAS_ADC
/* turn off the ADC capture */
ao_timer_set_adc_interval(0);
#endif
-
- ao_wakeup(&ao_flight_state);
}
ao_interval_min_height = ao_interval_max_height = ao_avg_height;
ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
}
ao_interval_min_height = ao_interval_max_height = ao_avg_height;
ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
@@
-491,20
+491,27
@@
ao_flight_dump(void)
printf ("sample:\n");
printf (" tick %d\n", ao_sample_tick);
printf ("sample:\n");
printf (" tick %d\n", ao_sample_tick);
+#if HAS_BARO
printf (" raw pres %d\n", ao_sample_pres);
printf (" raw pres %d\n", ao_sample_pres);
+#endif
#if HAS_ACCEL
printf (" raw accel %d\n", ao_sample_accel);
#endif
#if HAS_ACCEL
printf (" raw accel %d\n", ao_sample_accel);
#endif
+#if HAS_BARO
printf (" ground pres %d\n", ao_ground_pres);
printf (" ground alt %d\n", ao_ground_height);
printf (" ground pres %d\n", ao_ground_pres);
printf (" ground alt %d\n", ao_ground_height);
+#endif
#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
#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
+#if HAS_BARO
printf (" alt %d\n", ao_sample_alt);
printf (" height %d\n", ao_sample_height);
printf (" alt %d\n", ao_sample_alt);
printf (" height %d\n", ao_sample_height);
+#endif
+
#if HAS_ACCEL
printf (" accel %d.%02d\n", int_part(accel), frac_part(accel));
#endif
#if HAS_ACCEL
printf (" accel %d.%02d\n", int_part(accel), frac_part(accel));
#endif