* for all further flight computations
*/
+#define GRAVITY 9.80665
+/* convert m/s to velocity count */
+#define VEL_MPS_TO_COUNT(mps) ((int32_t) (((mps) / GRAVITY) * ACCEL_G * 100))
+
#define ACCEL_G 265
#define ACCEL_ZERO_G 16000
#define ACCEL_NOSE_UP (ACCEL_ZERO_G - ACCEL_G * 2 /3)
#define ACCEL_BOOST ACCEL_G * 2
-#define ACCEL_LAND (ACCEL_G / 10)
+#define ACCEL_INT_LAND (ACCEL_G / 10)
+#define ACCEL_VEL_LAND VEL_MPS_TO_COUNT(10)
/*
* Barometer calibration
#define BARO_APOGEE (BARO_kPa / 10) /* .1kPa, or about 10m */
#define BARO_COAST (BARO_kPa * 5) /* 5kpa, or about 500m */
#define BARO_MAIN (BARO_kPa) /* 1kPa, or about 100m */
-#define BARO_LAND (BARO_kPa / 20) /* .05kPa, or about 5m */
+#define BARO_INT_LAND (BARO_kPa / 20) /* .05kPa, or about 5m */
+#define BARO_LAND (BARO_kPa * 5) /* 5kPa or about 1000m */
/* We also have a clock, which can be used to sanity check things in
* case of other failures
* velocity, and quite accurately too. As it gets updated 100 times a second,
* it's scaled by 100
*/
-__data int32_t ao_flight_vel;
+__pdata int32_t ao_flight_vel;
+__pdata int32_t ao_max_vel;
__xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum;
-#define GRAVITY 9.80665
-/* convert m/s to velocity count */
-#define VEL_MPS_TO_COUNT(mps) ((int32_t) (((mps) / GRAVITY) * ACCEL_G * 100))
-
/* 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 AO_INTERVAL_TICKS AO_SEC_TO_TICKS(20)
void
ao_flight(void)
if (ao_flight_pres < ao_min_pres)
ao_min_pres = ao_flight_pres;
+ if (ao_flight_vel > ao_max_vel)
+ ao_max_vel = ao_flight_vel;
if (ao_flight_pres < ao_interval_cur_min_pres)
ao_interval_cur_min_pres = ao_flight_pres;
ao_min_pres = ao_ground_pres;
ao_main_pres = ao_ground_pres - BARO_MAIN;
ao_flight_vel = 0;
+ ao_max_vel = 0;
ao_interval_end = ao_flight_tick;
/* boost/coast to apogee detect:
*
- * accelerometer: integrated velocity < 200 m/s
+ * accelerometer: integrated velocity < 200 m/s AND < max_vel - 50m/s
* OR
* barometer: fall at least 500m from max altitude
*
* we expect to transition right through this stage to
* apogee detect.
*/
- if (ao_flight_vel < VEL_MPS_TO_COUNT(200) ||
+ if ((ao_flight_vel < VEL_MPS_TO_COUNT(200) &&
+ ao_flight_vel < ao_max_vel - VEL_MPS_TO_COUNT(50)) ||
ao_flight_pres > ao_min_pres + BARO_COAST)
{
ao_flight_state = ao_flight_apogee;
/* drogue/main to land:
*
- * accelerometer: value stable
- * AND
- * barometer: altitude stable
+ * accelerometer: value stable and velocity less than 10m/s
+ * OR
+ * barometer: altitude stable and within 500m of the launch altitude
*/
- if ((ao_interval_max_accel - ao_interval_min_accel) < ACCEL_LAND &&
- (ao_interval_max_pres - ao_interval_min_pres) < BARO_LAND)
+ if ((ao_flight_vel < ACCEL_VEL_LAND &&
+ (ao_interval_max_accel - ao_interval_min_accel) < ACCEL_INT_LAND) ||
+ (ao_flight_pres > ao_ground_pres - BARO_LAND &&
+ (ao_interval_max_pres - ao_interval_min_pres) < BARO_INT_LAND))
{
ao_flight_state = ao_flight_landed;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
}
+#define AO_ACCEL_COUNT_TO_MSS(count) ((count) / 27)
+#define AO_VEL_COUNT_TO_MS(count) ((int16_t) ((count) / 2700))
+
+void
+ao_flight_status(void)
+{
+ printf("STATE: %7s accel: %d speed: %d altitude: %d\n",
+ ao_state_names[ao_flight_state],
+ AO_ACCEL_COUNT_TO_MSS(ACCEL_ZERO_G - ao_flight_accel),
+ AO_VEL_COUNT_TO_MS(ao_flight_vel),
+ ao_pres_to_altitude(ao_flight_pres));
+}
+
static __xdata struct ao_task flight_task;
+__code struct ao_cmds ao_flight_cmds[] = {
+ { 'f', ao_flight_status, "f Display current flight state" },
+ { 0, ao_flight_status, NULL }
+};
+
void
ao_flight_init(void)
{
ao_interval_end = AO_INTERVAL_TICKS;
ao_add_task(&flight_task, ao_flight, "flight");
+ ao_cmd_register(&ao_flight_cmds[0]);
}
-