__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
/* 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_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)
-int32_t accel_vel_mach;
-int32_t accel_vel_boost;
-
/*
* Barometer calibration
*
/* 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))
/* 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;
/* 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_accel > ao_config.accel_plus_g - ACCEL_NOSE_UP &&
+ !ao_flight_force_idle)
{
/* Disable the USB controller in flight mode
* to save power
ao_flight_state = ao_flight_pad;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
} else {
- ao_flight_state = ao_flight_idle;
-
- /* Turn on packet system in idle mode
+ if (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
+ * -> invalid mode
+ */
+ ao_flight_state = ao_flight_invalid;
+ } else {
+ ao_flight_state = ao_flight_idle;
+ }
+
+ /* Turn on packet system in idle or invalid mode
*/
ao_packet_slave_start();
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
/* 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;
}
* 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;
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:
}
}
-#define AO_ACCEL_COUNT_TO_MSS(count) ((count) / 27)
-#define AO_VEL_COUNT_TO_MS(count) ((int16_t) ((count) / 2700))
-
-static void
-ao_flight_status(void) __reentrant
-{
- printf("STATE: %7s accel: %d speed: %d altitude: %d main: %d\n",
- ao_state_names[ao_flight_state],
- AO_ACCEL_COUNT_TO_MSS( - ao_flight_accel),
- AO_VEL_COUNT_TO_MS(ao_flight_vel),
- ao_pres_to_altitude(ao_flight_pres),
- ao_pres_to_altitude(ao_main_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_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_cmd_register(&ao_flight_cmds[0]);
}