X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_flight.c;h=aa4f6961860f5e923585f947f3ef3c0581f869b4;hb=a07b8ba166e05e7d1722c59651ef00e9fb7580d5;hp=494e656d5ccd3dabe5139cdd1dab6303ba84c8d0;hpb=6cb744e305116a738b5d71686c6748f6f08c12ea;p=fw%2Faltos

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 494e656d..aa4f6961 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -17,6 +17,7 @@
 
 #ifndef AO_FLIGHT_TEST
 #include "ao.h"
+#include <ao_log.h>
 #endif
 
 #ifndef HAS_ACCEL
@@ -31,10 +32,15 @@
 #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 */
 __pdata uint16_t		ao_boost_tick;		/* time of launch detect */
+__pdata uint16_t		ao_motor_number;	/* number of motors burned so far */
 
 /*
  * track min/max data over a long interval to detect
@@ -43,7 +49,9 @@ __pdata uint16_t		ao_boost_tick;		/* time of launch detect */
 static __data uint16_t		ao_interval_end;
 static __data int16_t		ao_interval_min_height;
 static __data int16_t		ao_interval_max_height;
+#if HAS_ACCEL
 static __data int16_t		ao_coast_avg_accel;
+#endif
 
 __pdata uint8_t			ao_flight_force_idle;
 
@@ -93,8 +101,10 @@ ao_flight(void)
 				 */
 				ao_flight_state = ao_flight_invalid;
 
+#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
@@ -105,7 +115,7 @@ ao_flight(void)
  			{
 				/* Set pad mode - we can fly! */
 				ao_flight_state = ao_flight_pad;
-#if HAS_USB
+#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG
 				/* Disable the USB controller in flight mode
 				 * to save power
 				 */
@@ -117,17 +127,18 @@ ao_flight(void)
 				ao_packet_slave_stop();
 #endif
 
+#if HAS_TELEMETRY
 				/* Turn on telemetry system */
 				ao_rdf_set(1);
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
-
+#endif
 				/* signal successful initialization by turning off the LED */
 				ao_led_off(AO_LED_RED);
 			} else {
 				/* Set idle mode */
  				ao_flight_state = ao_flight_idle;
  
-#if HAS_ACCEL
+#if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
 				/* Turn on packet system in idle mode on TeleMetrum */
 				ao_packet_slave_start();
 #endif
@@ -167,11 +178,13 @@ ao_flight(void)
 				/* start logging data */
 				ao_log_start();
 
+#if HAS_TELEMETRY
 				/* Increase telemetry rate */
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
 
 				/* disable RDF beacon */
 				ao_rdf_set(0);
+#endif
 
 #if HAS_GPS
 				/* Record current GPS position by waking up GPS log tasks */
@@ -203,6 +216,7 @@ ao_flight(void)
 #else
 				ao_flight_state = ao_flight_coast;
 #endif
+				++ao_motor_number;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			}
 			break;
@@ -248,14 +262,18 @@ ao_flight(void)
 #endif
 				)
 			{
+#if HAS_IGNITE
 				/* ignite the drogue charge */
 				ao_ignite(ao_igniter_drogue);
+#endif
 
+#if HAS_TELEMETRY
 				/* slow down the telemetry system */
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 
 				/* Turn the RDF beacon back on */
 				ao_rdf_set(1);
+#endif
 
 				/* and enter drogue state */
 				ao_flight_state = ao_flight_drogue;
@@ -290,7 +308,9 @@ ao_flight(void)
 			 */
 			if (ao_height <= ao_config.main_deploy)
 			{
+#if HAS_IGNITE
 				ao_ignite(ao_igniter_main);
+#endif
 
 				/*
 				 * Start recording min/max height
@@ -334,17 +354,70 @@ ao_flight(void)
 				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 			}
 			break;
-		case ao_flight_landed:
+		default:
 			break;
 		}
 	}
 }
 
+#if HAS_FLIGHT_DEBUG
+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);
+	printf ("  ground alt  %d\n", ao_ground_height);
+#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_FLIGHT_DEBUG
+	ao_cmd_register(&ao_flight_cmds[0]);
+#endif
 	ao_add_task(&flight_task, ao_flight, "flight");
 }