X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_flight.c;h=5a5d5b72b0adfb887f238d6512c5b91b68b8a016;hb=188f9efadd480de872f86a8eb741e8738db84c6b;hp=b0d911ed7f2663ac5b820cc0146d4944da9d2d85;hpb=cf20e213f39fb24f15e0ac94307c2d138fcadecb;p=fw%2Faltos diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c index b0d911ed..5a5d5b72 100644 --- a/src/kernel/ao_flight.c +++ b/src/kernel/ao_flight.c @@ -21,7 +21,7 @@ #include #endif -#if HAS_MPU6000 +#if HAS_MPU6000 || HAS_MPU9250 #include #endif @@ -47,27 +47,28 @@ /* 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 */ +enum ao_flight_state ao_flight_state; /* current flight state */ +uint16_t ao_boost_tick; /* time of most recent boost detect */ +uint16_t ao_launch_tick; /* time of first boost detect */ +uint16_t ao_motor_number; /* number of motors burned so far */ #if HAS_SENSOR_ERRORS /* Any sensor can set this to mark the flight computer as 'broken' */ -__xdata uint8_t ao_sensor_errors; +uint8_t ao_sensor_errors; #endif /* * track min/max data over a long interval to detect * resting */ -static __data uint16_t ao_interval_end; -static __data ao_v_t ao_interval_min_height; -static __data ao_v_t ao_interval_max_height; +static uint16_t ao_interval_end; +static ao_v_t ao_interval_min_height; +static ao_v_t ao_interval_max_height; #if HAS_ACCEL -static __data ao_v_t ao_coast_avg_accel; +static ao_v_t ao_coast_avg_accel; #endif -__pdata uint8_t ao_flight_force_idle; +uint8_t ao_flight_force_idle; /* We also have a clock, which can be used to sanity check things in * case of other failures @@ -174,7 +175,7 @@ ao_flight(void) #endif } /* wakeup threads due to state change */ - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + ao_wakeup(&ao_flight_state); break; case ao_flight_pad: @@ -199,7 +200,7 @@ ao_flight(void) ) { ao_flight_state = ao_flight_boost; - ao_boost_tick = ao_sample_tick; + ao_launch_tick = ao_boost_tick = ao_sample_tick; /* start logging data */ ao_log_start(); @@ -218,7 +219,7 @@ ao_flight(void) ao_wakeup(&ao_gps_new); #endif - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + ao_wakeup(&ao_flight_state); } break; case ao_flight_boost: @@ -233,7 +234,7 @@ ao_flight(void) * deceleration, or by waiting until the maximum burn duration * (15 seconds) has past. */ - if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) || + if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) || (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX) { #if HAS_ACCEL @@ -243,7 +244,7 @@ ao_flight(void) ao_flight_state = ao_flight_coast; #endif ++ao_motor_number; - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + ao_wakeup(&ao_flight_state); } break; #if HAS_ACCEL @@ -256,7 +257,7 @@ ao_flight(void) if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) { ao_flight_state = ao_flight_coast; - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + ao_wakeup(&ao_flight_state); } else goto check_re_boost; break; @@ -269,7 +270,7 @@ ao_flight(void) * number of seconds. */ if (ao_config.apogee_lockout) { - if ((int16_t) (ao_sample_tick - ao_boost_tick) < + if ((int16_t) (ao_sample_tick - ao_launch_tick) < AO_SEC_TO_TICKS(ao_config.apogee_lockout)) break; } @@ -282,9 +283,11 @@ ao_flight(void) * the measured altitude reasonably closely; otherwise * we're probably transsonic. */ +#define AO_ERROR_BOUND 100 + if (ao_speed < 0 #if !HAS_ACCEL - && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100) + && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND) #endif ) { @@ -303,16 +306,16 @@ ao_flight(void) /* and enter drogue state */ ao_flight_state = ao_flight_drogue; - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + ao_wakeup(&ao_flight_state); } #if HAS_ACCEL else { check_re_boost: - ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6); + ao_coast_avg_accel = ao_coast_avg_accel + ((ao_accel - ao_coast_avg_accel) >> 5); if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) { ao_boost_tick = ao_sample_tick; ao_flight_state = ao_flight_boost; - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + ao_wakeup(&ao_flight_state); } } #endif @@ -349,7 +352,7 @@ ao_flight(void) ao_interval_min_height = ao_interval_max_height = ao_avg_height; ao_flight_state = ao_flight_main; - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + ao_wakeup(&ao_flight_state); } break; @@ -376,7 +379,7 @@ ao_flight(void) ao_timer_set_adc_interval(0); #endif - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + 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; @@ -441,7 +444,9 @@ ao_flight_dump(void) printf (" max_height %d\n", ao_max_height); printf (" avg_height %d\n", ao_avg_height); printf (" error_h %d\n", ao_error_h); +#if !HAS_ACCEL printf (" error_avg %d\n", ao_error_h_sq_avg); +#endif } static void @@ -460,7 +465,7 @@ ao_orient_test_select(void) ao_orient_test = !ao_orient_test; } -__code struct ao_cmds ao_flight_cmds[] = { +const struct ao_cmds ao_flight_cmds[] = { { ao_flight_dump, "F\0Dump flight status" }, { ao_gyro_test, "G\0Test gyro code" }, { ao_orient_test_select,"O\0Test orientation code" }, @@ -468,7 +473,7 @@ __code struct ao_cmds ao_flight_cmds[] = { }; #endif -static __xdata struct ao_task flight_task; +static struct ao_task flight_task; void ao_flight_init(void)