__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;
/* Accelerometer calibration
*
#define GRAVITY 9.80665
/* convert m/s to velocity count */
-#define VEL_MPS_TO_COUNT(mps) ((int32_t) (((mps) / GRAVITY) * ACCEL_G * 100))
+#define VEL_MPS_TO_COUNT(mps) (((int32_t) (((mps) / GRAVITY) * (AO_HERTZ/2))) * (int32_t) ao_accel_2g)
#define ACCEL_G 265
-#define ACCEL_ZERO_G 16000
-#define ACCEL_NOSE_UP (ACCEL_G * 2 /3)
-#define ACCEL_BOOST ACCEL_G * 2
+#define ACCEL_NOSE_UP (ao_accel_2g / 4)
+#define ACCEL_BOOST ao_accel_2g
#define ACCEL_INT_LAND (ACCEL_G / 10)
-#define ACCEL_VEL_LAND VEL_MPS_TO_COUNT(10)
#define ACCEL_VEL_MACH VEL_MPS_TO_COUNT(200)
-#define ACCEL_VEL_APOGEE VEL_MPS_TO_COUNT(2)
-#define ACCEL_VEL_MAIN VEL_MPS_TO_COUNT(100)
#define ACCEL_VEL_BOOST VEL_MPS_TO_COUNT(5)
+int32_t accel_vel_mach;
+int32_t accel_vel_boost;
+
/*
* Barometer calibration
*
* so subtract instead of add.
*/
ticks = ao_flight_tick - ao_flight_prev_tick;
- ao_vel_change = (((ao_raw_accel >> 1) + (ao_raw_accel_prev >> 1)) - ao_ground_accel);
+ ao_vel_change = ao_ground_accel - (((ao_raw_accel + 1) >> 1) + ((ao_raw_accel_prev + 1) >> 1));
ao_raw_accel_prev = ao_raw_accel;
/* one is a common interval */
if (ticks == 1)
- ao_flight_vel -= (int32_t) ao_vel_change;
+ ao_flight_vel += (int32_t) ao_vel_change;
else
- ao_flight_vel -= (int32_t) ao_vel_change * (int32_t) ticks;
+ ao_flight_vel += (int32_t) ao_vel_change * (int32_t) ticks;
ao_flight_adc = ao_adc_ring_next(ao_flight_adc);
}
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;
ao_old_vel_tick = ao_flight_tick;
- /* Go to launchpad state if the nose is pointing up */
+ /* Go to pad state if the nose is pointing up */
ao_config_get();
- if (ao_flight_accel < ao_config.accel_zero_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)
+ {
/* Disable the USB controller in flight mode
* to save power
*/
/* Turn on telemetry system
*/
+ ao_rdf_set(1);
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
- ao_flight_state = ao_flight_launchpad;
+ ao_flight_state = ao_flight_pad;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
} else {
ao_flight_state = ao_flight_idle;
- /* Turn on the Green LED in idle mode
+ /* Turn on packet system in idle mode
*/
- ao_led_on(AO_LED_GREEN);
+ ao_packet_slave_start();
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
/* signal successful initialization by turning off the LED */
ao_led_off(AO_LED_RED);
break;
- case ao_flight_launchpad:
+ case ao_flight_pad:
/* Trim velocity
*
/* Increase telemetry rate */
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
+ /* disable RDF beacon */
+ ao_rdf_set(0);
+
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
}
break;
case ao_flight_boost:
- /* boost to coast:
+ /* boost to fast:
*
* accelerometer: start to fall at > 1/4 G
* OR
if (ao_flight_accel > ao_ground_accel + (ACCEL_G >> 2) ||
(int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
{
- ao_flight_state = ao_flight_coast;
+ ao_flight_state = ao_flight_fast;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
}
break;
- case ao_flight_coast:
+ case ao_flight_fast:
- /* coast to apogee detect:
+ /* fast to coast:
*
* accelerometer: integrated velocity < 200 m/s
* OR
* apogee detect
*/
ao_min_vel = abs(ao_flight_vel);
- ao_flight_state = ao_flight_apogee;
+ ao_flight_state = ao_flight_coast;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
- case ao_flight_apogee:
+ case ao_flight_coast:
- /* apogee detect to drogue deploy:
+ /* apogee detect: coast to drogue deploy:
*
- * accelerometer: abs(velocity) > min_velocity + 2m/s
- * OR
* barometer: fall at least 10m
*
- * If the barometer saturates because the flight
- * goes over its measuring range (about 53k'),
- * requiring a 10m fall will avoid prematurely
- * detecting apogee; the accelerometer will take
- * over in that case and the integrated velocity
- * measurement should suffice to find apogee
+ * It would be nice to use the accelerometer
+ * to detect apogee as well, but tests have
+ * shown that flights far from vertical would
+ * grossly mis-detect apogee. So, for now,
+ * we'll trust to a single sensor for this test
*/
- if (/* abs(ao_flight_vel) > ao_min_vel + ACCEL_VEL_APOGEE || */
- ao_flight_pres > ao_min_pres + BARO_APOGEE)
+ if (ao_flight_pres > ao_min_pres + BARO_APOGEE)
{
/* ignite the drogue charge */
ao_ignite(ao_igniter_drogue);
/* 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));
}
#define AO_VEL_COUNT_TO_MS(count) ((int16_t) ((count) / 2700))
static void
-ao_flight_status(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(ACCEL_ZERO_G - ao_flight_accel),
+ 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));