#error Please define HAS_USB
#endif
+#ifndef HAS_TELEMETRY
+#define HAS_TELEMETRY HAS_RADIO
+#endif
+
/* Main flight thread. */
__pdata enum ao_flight_state ao_flight_state; /* current flight state */
* - pad mode if we're upright,
* - idle mode otherwise
*/
-#if HAS_ACCEL
+#if HAS_ACCEL && 0
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_flight_state = ao_flight_invalid;
-#if HAS_RADIO
+#if HAS_RADIO && PACKET_HAS_SLAVE
/* Turn on packet system in invalid mode on TeleMetrum */
ao_packet_slave_start();
#endif
} else
#endif
if (!ao_flight_force_idle
-#if HAS_ACCEL
+#if HAS_ACCEL && 0
&& ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
#endif
)
{
/* Set pad mode - we can fly! */
ao_flight_state = ao_flight_pad;
-#if HAS_USB
+#if HAS_USB && HAS_RADIO && 0
/* Disable the USB controller in flight mode
* to save power
*/
ao_packet_slave_stop();
#endif
-#if HAS_RADIO
+#if HAS_TELEMETRY
/* Turn on telemetry system */
ao_rdf_set(1);
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
/* Set idle mode */
ao_flight_state = ao_flight_idle;
-#if HAS_ACCEL && HAS_RADIO
+#if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
/* Turn on packet system in idle mode on TeleMetrum */
ao_packet_slave_start();
#endif
/* start logging data */
ao_log_start();
-#if HAS_RADIO
+#if HAS_TELEMETRY
/* Increase telemetry rate */
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
ao_ignite(ao_igniter_drogue);
#endif
-#if HAS_RADIO
+#if HAS_TELEMETRY
/* slow down the telemetry system */
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
}
}
+#if !HAS_RADIO
+static inline int int_part(int16_t i) { return i >> 4; }
+static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; }
+
+static void
+ao_flight_dump(void)
+{
+#if HAS_ACCEL
+ int16_t accel;
+
+ accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16;
+#endif
+
+ printf ("sample:\n");
+ printf (" tick %d\n", ao_sample_tick);
+ printf (" raw pres %d\n", ao_sample_pres);
+#if HAS_ACCEL
+ printf (" raw accel %d\n", ao_sample_accel);
+#endif
+ printf (" ground pres %d\n", ao_ground_pres);
+#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
+
+ printf (" alt %d\n", ao_sample_alt);
+ printf (" height %d\n", ao_sample_height);
+#if HAS_ACCEL
+ printf (" accel %d.%02d\n", int_part(accel), frac_part(accel));
+#endif
+
+
+ printf ("kalman:\n");
+ printf (" height %d\n", ao_height);
+ printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
+ printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
+ printf (" max_height %d\n", ao_max_height);
+ printf (" avg_height %d\n", ao_avg_height);
+ printf (" error_h %d\n", ao_error_h);
+ printf (" error_avg %d\n", ao_error_h_sq_avg);
+}
+
+__code struct ao_cmds ao_flight_cmds[] = {
+ { ao_flight_dump, "F\0Dump flight status" },
+ { 0, NULL },
+};
+#endif
+
static __xdata struct ao_task flight_task;
void
ao_flight_init(void)
{
ao_flight_state = ao_flight_startup;
+#if !HAS_RADIO
+ ao_cmd_register(&ao_flight_cmds[0]);
+#endif
ao_add_task(&flight_task, ao_flight, "flight");
}