X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Ftest%2Fao_flight_test.c;h=452f5b75fea982517bc494d93fce7c74b66708c5;hb=bdd6244d8b4a55c9aa4fb79b0cb1a0727afbc2ac;hp=0df9a5d79c0b9df7ca0a73be546f3029d59c1a82;hpb=91b8c8b20cead2836ec835f44b4ca0cf06cbf518;p=fw%2Faltos diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index 0df9a5d7..452f5b75 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -20,10 +20,13 @@ #include #include #include +#include #include #include #include +#define GRAVITY 9.80665 + #define AO_HERTZ 100 #define HAS_ADC 1 @@ -35,11 +38,17 @@ #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16)) -#if MEGAMETRUM +#define AO_GPS_NEW_DATA 1 +#define AO_GPS_NEW_TRACKING 2 + +int ao_gps_new; + +#if TELEMEGA #define AO_ADC_NUM_SENSE 6 #define HAS_MS5607 1 #define HAS_MPU6000 1 -#define HAS_MMA655X 0 +#define HAS_MMA655X 1 +#define HAS_HMC5883 1 struct ao_adc { int16_t sense[AO_ADC_NUM_SENSE]; @@ -120,6 +129,7 @@ int ao_summary = 0; #define ao_rdf_set(rdf) #define ao_packet_slave_start() #define ao_packet_slave_stop() +#define flush() enum ao_igniter { ao_igniter_drogue = 0, @@ -137,6 +147,18 @@ int tick_offset; static int32_t ao_k_height; +int16_t +ao_time(void) +{ + return ao_data_static.tick; +} + +void +ao_delay(int16_t interval) +{ + return; +} + void ao_ignite(enum ao_igniter igniter) { @@ -195,11 +217,13 @@ struct ao_cmds { #define ao_xmemcmp(d,s,c) memcmp(d,s,c) #define AO_NEED_ALTITUDE_TO_PRES 1 -#if MEGAMETRUM +#if TELEMEGA #include "ao_convert_pa.c" #include struct ao_ms5607_prom ms5607_prom; #include "ao_ms5607_convert.c" +#define AO_PYRO_NUM 4 +#include #else #include "ao_convert.c" #endif @@ -210,6 +234,12 @@ struct ao_config { int16_t accel_minus_g; uint8_t pad_orientation; uint16_t apogee_lockout; +#if TELEMEGA + struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */ + int16_t accel_zero_along; + int16_t accel_zero_across; + int16_t accel_zero_through; +#endif }; #define AO_PAD_ORIENTATION_ANTENNA_UP 0 @@ -222,7 +252,6 @@ struct ao_config ao_config; #define DATA_TO_XDATA(x) (x) -#define GRAVITY 9.80665 extern int16_t ao_ground_accel, ao_flight_accel; extern int16_t ao_accel_2g; @@ -236,12 +265,32 @@ extern int32_t ao_accel_scale; extern alt_t ao_ground_height; extern alt_t ao_sample_alt; +double ao_sample_qangle; + int ao_sample_prev_tick; uint16_t prev_tick; + #include "ao_kalman.c" +#include "ao_sqrt.c" #include "ao_sample.c" #include "ao_flight.c" +#if TELEMEGA +#define AO_PYRO_NUM 4 + +#define AO_PYRO_0 0 +#define AO_PYRO_1 1 +#define AO_PYRO_2 2 +#define AO_PYRO_3 3 + +static void +ao_pyro_pin_set(uint8_t pin, uint8_t value) +{ + printf ("set pyro %d %d\n", pin, value); +} + +#include "ao_pyro.c" +#endif #define to_double(f) ((f) / 65536.0) @@ -301,17 +350,20 @@ ao_test_exit(void) exit(0); } -#if HAS_MPU6000 -static double -ao_mpu6000_accel(int16_t sensor) -{ - return sensor / 32767.0 * MPU6000_ACCEL_FULLSCALE * GRAVITY; -} +#ifdef TELEMEGA +struct ao_azel { + int az; + int el; +}; -static double -ao_mpu6000_gyro(int16_t sensor) +static void +azel (struct ao_azel *r, struct ao_quaternion *q) { - return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE; + double v; + + r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5); + v = sqrt (q->x*q->x + q->y*q->y); + r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5); } #endif @@ -329,7 +381,7 @@ ao_insert(void) #else double accel = 0.0; #endif -#if MEGAMETRUM +#if TELEMEGA double height; ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked); @@ -368,21 +420,104 @@ ao_insert(void) } if (!ao_summary) { +#if TELEMEGA + static struct ao_quaternion ao_ground_mag; + static int ao_ground_mag_set; + + if (!ao_ground_mag_set) { + ao_quaternion_init_vector (&ao_ground_mag, + ao_data_mag_across(&ao_data_static), + ao_data_mag_through(&ao_data_static), + ao_data_mag_along(&ao_data_static)); + ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag); + ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation); + ao_ground_mag_set = 1; + } + + struct ao_quaternion ao_mag, ao_mag_rot; + + ao_quaternion_init_vector(&ao_mag, + ao_data_mag_across(&ao_data_static), + ao_data_mag_through(&ao_data_static), + ao_data_mag_along(&ao_data_static)); + + ao_quaternion_normalize(&ao_mag, &ao_mag); + ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation); + + float ao_dot; + int ao_mag_angle; + + ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag); + + struct ao_azel ground_azel, mag_azel, rot_azel; + + azel(&ground_azel, &ao_ground_mag); + azel(&mag_azel, &ao_mag); + azel(&rot_azel, &ao_mag_rot); + + ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5); + + static struct ao_quaternion ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 }; + struct ao_quaternion ao_out; + + ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation); + + int out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI); + + printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n", + time, + ao_state_names[ao_flight_state], + ao_k_height / 65536.0, + ao_sample_orient, out, + mag_azel.el, + mag_azel.az); + + +#if 0 + printf ("\t\tstate %-8.8s ground az: %4d el %4d mag az %4d el %4d rot az %4d el %4d el_diff %4d az_diff %4d angle %4d tilt %4d ground %8.5f %8.5f %8.5f cur %8.5f %8.5f %8.5f rot %8.5f %8.5f %8.5f\n", + ao_state_names[ao_flight_state], + ground_azel.az, ground_azel.el, + mag_azel.az, mag_azel.el, + rot_azel.az, rot_azel.el, + ground_azel.el - rot_azel.el, + ground_azel.az - rot_azel.az, + ao_mag_angle, + ao_sample_orient, + ao_ground_mag.x, + ao_ground_mag.y, + ao_ground_mag.z, + ao_mag.x, + ao_mag.y, + ao_mag.z, + ao_mag_rot.x, + ao_mag_rot.y, + ao_mag_rot.z); +#endif +#endif + +#if 0 printf("%7.2f height %8.2f accel %8.3f " -#if MEGAMETRUM - "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f " +#if TELEMEGA + "angle %5d " + "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d " #endif "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n", time, height, accel, -#if MEGAMETRUM +#if TELEMEGA + ao_sample_orient, + ao_mpu6000_accel(ao_data_static.mpu6000.accel_x), ao_mpu6000_accel(ao_data_static.mpu6000.accel_y), ao_mpu6000_accel(ao_data_static.mpu6000.accel_z), ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x), ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y), ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z), + ao_data_static.hmc5883.x, + ao_data_static.hmc5883.y, + ao_data_static.hmc5883.z, + ao_mag_angle, #endif ao_state_names[ao_flight_state], ao_k_height / 65536.0, @@ -392,6 +527,7 @@ ao_insert(void) drogue_height, main_height, ao_error_h_sq_avg); +#endif // if (ao_flight_state == ao_flight_landed) // ao_test_exit(); @@ -562,10 +698,14 @@ ao_sleep(void *wchan) char *words[64]; int nword; +#if TELEMEGA + if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed) + ao_pyro_check(); +#endif for (;;) { if (ao_records_read > 2 && ao_flight_state == ao_flight_startup) { -#if MEGAMETRUM +#if TELEMEGA ao_data_static.mpu6000 = ao_ground_mpu6000; #else ao_data_static.adc.accel = ao_flight_ground_accel; @@ -591,8 +731,8 @@ ao_sleep(void *wchan) if (words[nword] == NULL) break; } -#if MEGAMETRUM - if (log_format == AO_LOG_FORMAT_MEGAMETRUM && nword == 30 && strlen(words[0]) == 1) { +#if TELEMEGA + if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) { int i; struct ao_ms5607_value value; @@ -617,22 +757,17 @@ ao_sleep(void *wchan) ao_data_static.ms5607_raw.temp = int32(bytes, 4); ao_ms5607_convert(&ao_data_static.ms5607_raw, &value); ao_data_static.mpu6000.accel_x = int16(bytes, 8); - ao_data_static.mpu6000.accel_y = -int16(bytes, 10); + ao_data_static.mpu6000.accel_y = int16(bytes, 10); ao_data_static.mpu6000.accel_z = int16(bytes, 12); ao_data_static.mpu6000.gyro_x = int16(bytes, 14); - ao_data_static.mpu6000.gyro_y = -int16(bytes, 16); + ao_data_static.mpu6000.gyro_y = int16(bytes, 16); ao_data_static.mpu6000.gyro_z = int16(bytes, 18); - if (ao_records_read == 0) - ao_ground_mpu6000 = ao_data_static.mpu6000; - else if (ao_records_read < 10) { -#define f(f) ao_ground_mpu6000.f = ao_ground_mpu6000.f + ((ao_data_static.mpu6000.f - ao_ground_mpu6000.f) >> 2) - f(accel_x); - f(accel_y); - f(accel_z); - f(gyro_x); - f(gyro_y); - f(gyro_z); - } + ao_data_static.hmc5883.x = int16(bytes, 20); + ao_data_static.hmc5883.y = int16(bytes, 22); + ao_data_static.hmc5883.z = int16(bytes, 24); +#if HAS_MMA655X + ao_data_static.mma655x = int16(bytes, 26); +#endif ao_records_read++; ao_insert(); return; @@ -656,9 +791,26 @@ ao_sleep(void *wchan) else if (strcmp(words[1], "crc:") == 0) ms5607_prom.crc = strtoul(words[2], NULL, 10); continue; + } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) { + int p = strtoul(words[1], NULL, 10); + int i, j; + struct ao_pyro *pyro = &ao_config.pyro[p]; + + for (i = 2; i < nword; i++) { + for (j = 0; j < NUM_PYRO_VALUES; j++) + if (!strcmp (words[2], ao_pyro_values[j].name)) + break; + if (j == NUM_PYRO_VALUES) + continue; + pyro->flags |= ao_pyro_values[j].flag; + if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) { + int16_t val = strtoul(words[++i], NULL, 10); + *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val; + } + } } #else - if (nword == 4 && log_format != AO_LOG_FORMAT_MEGAMETRUM) { + if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) { type = words[0][0]; tick = strtoul(words[1], NULL, 16); a = strtoul(words[2], NULL, 16); @@ -672,6 +824,13 @@ ao_sleep(void *wchan) } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) { ao_config.accel_plus_g = atoi(words[3]); ao_config.accel_minus_g = atoi(words[5]); +#ifdef TELEMEGA + } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) { + ao_config.accel_zero_along = atoi(words[3]); + ao_config.accel_zero_across = atoi(words[5]); + ao_config.accel_zero_through = atoi(words[7]); + printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through); +#endif } else if (nword >= 4 && strcmp(words[0], "Main") == 0) { ao_config.main_deploy = atoi(words[2]); } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 && @@ -775,7 +934,9 @@ ao_sleep(void *wchan) if (type != 'F' && !ao_flight_started) continue; -#if MEGAMETRUM +#if TELEMEGA + (void) a; + (void) b; #else switch (type) { case 'F':