altos: More easy motor invalid mode debug

[fw/altos] / src / kernel / ao_flight.c

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index c5069158a61cc603914566a4917608a54a300be3..4b6bfd8f7109be78233e25f13f2aa9317410bbbb 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -102,6 +102,13 @@ uint8_t                    ao_flight_force_idle;
 
 #define abs(a) ((a) < 0 ? -(a) : (a))
 
+static bool accel_plus_g_failed;
+static bool accel_minus_g_failed;
+static bool accel_plus_failed;
+static bool accel_minus_failed;
+
+static char *btos(bool x) { return x? "true" : "false"; }
+
 void
 ao_flight(void)
 {
@@ -127,14 +134,22 @@ ao_flight(void)
 #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
 #endif
                                )
                        {
+                               if (ao_config.accel_plus_g == 0)
+                                       accel_plus_g_failed = true;
+                               if (ao_config.accel_minus_g == 0)
+                                       accel_minus_g_failed = true;
+                               if (ao_ground_accel < (accel_t) ao_config.accel_plus_g - ACCEL_NOSE_UP)
+                                       accel_plus_failed = true;
+                               if (ao_ground_accel > (accel_t) ao_config.accel_minus_g + ACCEL_NOSE_UP)
+                                       accel_minus_failed = true;
                                /* Detected an accel value outside -1.5g to 1.5g
                                 * (or uncalibrated values), so we go into invalid mode
                                 */
@@ -200,6 +215,25 @@ ao_flight(void)
                        ao_wakeup(&ao_flight_state);
 
                        break;
+
+               case ao_flight_invalid:
+                       printf("+g? %s -g? %s +? %s -? %s +g %d -g %d ga %d +g-NU %d -g+NU %d\n",
+                              btos(accel_plus_g_failed),
+                              btos(accel_minus_g_failed),
+                              btos(accel_plus_failed),
+                              btos(accel_minus_failed),
+                              ao_config.accel_plus_g,
+                              ao_config.accel_minus_g,
+                              ao_ground_accel,
+                              ao_config.accel_plus_g - ACCEL_NOSE_UP,
+                              ao_config.accel_minus_g + ACCEL_NOSE_UP);
+                       break;
+#if 0
+               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:
                         *
@@ -216,12 +250,17 @@ ao_flight(void)
                         */
                        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)
+#if HAS_BARO
+                               && ao_speed > AO_MS_TO_SPEED(5)
+#endif
+)
 #endif
                                )
                        {
                                ao_flight_state = ao_flight_boost;
+                               ao_wakeup(&ao_flight_state);
+
                                ao_launch_tick = ao_boost_tick = ao_sample_tick;
 
                                /* start logging data */
@@ -242,8 +281,6 @@ ao_flight(void)
                                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:
@@ -278,8 +315,8 @@ ao_flight(void)
 #else
                                ao_flight_state = ao_flight_coast;
 #endif
-                               ++ao_motor_number;
                                ao_wakeup(&ao_flight_state);
+                               ++ao_motor_number;
                        }
                        break;
 #if HAS_ACCEL && HAS_BARO
@@ -327,11 +364,9 @@ ao_flight(void)
 #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);
@@ -339,10 +374,6 @@ ao_flight(void)
                                /* 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 */
@@ -362,12 +393,11 @@ 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_wakeup(&ao_flight_state);
 #if HAS_ADC
                                        /* turn off the ADC capture */
                                        ao_timer_set_adc_interval(0);
 #endif
-
-                                       ao_wakeup(&ao_flight_state);
                                }
 
                                /* Reset interval values */
@@ -410,9 +440,8 @@ ao_flight(void)
                         */
                        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
@@ -423,9 +452,6 @@ ao_flight(void)
                                ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 
                                ao_interval_min_height = ao_interval_max_height = ao_avg_height;
-
-                               ao_flight_state = ao_flight_main;
-                               ao_wakeup(&ao_flight_state);
                        }
                        break;
 
@@ -445,13 +471,11 @@ ao_flight(void)
                                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
-
-                                       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;