X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Ftest%2Fao_flight_test.c;h=fbbc4bd97004997850c1c78939dd48b6d35abe7e;hb=f92be7e22150b2de4c899e687d3bbfc1eb842f9e;hp=0abb4090d397e0a615ea1ca31a00288f7057d5a5;hpb=cdb32b1717db4e8cb8cf94d810e74ce2b569566b;p=fw%2Faltos diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index 0abb4090..fbbc4bd9 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -34,31 +34,55 @@ #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1)) #define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1)) +#if 0 #define AO_M_TO_HEIGHT(m) ((int16_t) (m)) #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16)) +#endif #define AO_GPS_NEW_DATA 1 #define AO_GPS_NEW_TRACKING 2 int ao_gps_new; +#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) +#define TELEMETRUM_V1 1 +#endif + #if TELEMEGA #define AO_ADC_NUM_SENSE 6 #define HAS_MS5607 1 #define HAS_MPU6000 1 #define HAS_MMA655X 1 #define HAS_HMC5883 1 +#define HAS_BEEP 1 +#define AO_CONFIG_MAX_SIZE 1024 struct ao_adc { int16_t sense[AO_ADC_NUM_SENSE]; int16_t v_batt; int16_t v_pbatt; - int16_t accel_ref; - int16_t accel; int16_t temp; }; -#else +#endif + +#if TELEMETRUM_V2 +#define AO_ADC_NUM_SENSE 2 +#define HAS_MS5607 1 +#define HAS_MMA655X 1 +#define HAS_BEEP 1 +#define AO_CONFIG_MAX_SIZE 1024 + +struct ao_adc { + int16_t sense_a; + int16_t sense_m; + int16_t v_batt; + int16_t temp; +}; +#endif + + +#if TELEMETRUM_V1 /* * One set of samples read from the A/D converter */ @@ -93,6 +117,7 @@ struct ao_adc { #include #include #include +#include #if TELEMEGA int ao_gps_count; @@ -175,7 +200,7 @@ ao_gps_angle(void) ao_gps_static.latitude / 1e7, ao_gps_static.longitude / 1e7, &dist, &bearing); - height = ao_gps_static.altitude - ao_gps_prev.altitude; + height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev); angle = atan2(dist, height); return angle * 180/M_PI; @@ -186,17 +211,6 @@ ao_gps_angle(void) #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) #define from_fix(x) ((x) >> 16) -/* - * Above this height, the baro sensor doesn't work - */ -#define AO_BARO_SATURATE 13000 -#define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE) - -/* - * Above this speed, baro measurements are unreliable - */ -#define AO_MAX_BARO_SPEED 200 - #define ACCEL_NOSE_UP (ao_accel_2g >> 2) extern enum ao_flight_state ao_flight_state; @@ -234,7 +248,7 @@ double main_time; int tick_offset; -static int32_t ao_k_height; +static ao_k_t ao_k_height; int16_t ao_time(void) @@ -306,10 +320,10 @@ struct ao_cmds { #define ao_xmemcmp(d,s,c) memcmp(d,s,c) #define AO_NEED_ALTITUDE_TO_PRES 1 -#if TELEMEGA +#if TELEMEGA || TELEMETRUM_V2 #include "ao_convert_pa.c" #include -struct ao_ms5607_prom ms5607_prom; +struct ao_ms5607_prom ao_ms5607_prom; #include "ao_ms5607_convert.c" #define AO_PYRO_NUM 4 #include @@ -317,22 +331,8 @@ struct ao_ms5607_prom ms5607_prom; #include "ao_convert.c" #endif -struct ao_config { - uint16_t main_deploy; - int16_t accel_plus_g; - 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 -#define AO_PAD_ORIENTATION_ANTENNA_DOWN 1 +#include +#include #define ao_config_get() @@ -470,7 +470,7 @@ ao_insert(void) #else double accel = 0.0; #endif -#if TELEMEGA +#if TELEMEGA || TELEMETRUM_V2 double height; ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked); @@ -565,6 +565,7 @@ ao_insert(void) mag_azel.el, mag_azel.az); #endif +#if 0 printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n", time, ao_state_names[ao_flight_state], @@ -574,6 +575,7 @@ ao_insert(void) (int) floor (ao_gps_angle() + 0.5), (ao_gps_static.flags & 0xf) * 10); +#endif #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], @@ -596,9 +598,9 @@ ao_insert(void) #endif #endif -#if 0 +#if 1 printf("%7.2f height %8.2f accel %8.3f " -#if TELEMEGA +#if TELEMEGA && 1 "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 @@ -606,7 +608,7 @@ ao_insert(void) time, height, accel, -#if TELEMEGA +#if TELEMEGA && 1 ao_sample_orient, ao_mpu6000_accel(ao_data_static.mpu6000.accel_x), @@ -689,7 +691,8 @@ ao_sleep(void *wchan) { #if TELEMEGA ao_data_static.mpu6000 = ao_ground_mpu6000; -#else +#endif +#if TELEMETRUM_V1 ao_data_static.adc.accel = ao_flight_ground_accel; #endif ao_insert(); @@ -732,6 +735,18 @@ ao_sleep(void *wchan) ao_flight_started = 1; ao_ground_pres = int32(bytes, 4); ao_ground_height = ao_pa_to_altitude(ao_ground_pres); + ao_ground_accel_along = int16(bytes, 8); + ao_ground_accel_across = int16(bytes, 10); + ao_ground_accel_through = int16(bytes, 12); + ao_ground_roll = int16(bytes, 14); + ao_ground_pitch = int16(bytes, 16); + ao_ground_yaw = int16(bytes, 18); + ao_ground_mpu6000.accel_x = ao_ground_accel_across; + ao_ground_mpu6000.accel_y = ao_ground_accel_along; + ao_ground_mpu6000.accel_z = ao_ground_accel_through; + ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9; + ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9; + ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9; break; case 'A': ao_data_static.tick = tick; @@ -749,6 +764,8 @@ ao_sleep(void *wchan) ao_data_static.hmc5883.z = int16(bytes, 24); #if HAS_MMA655X ao_data_static.mma655x = int16(bytes, 26); + if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP) + ao_data_static.mma655x = ao_data_accel_invert(ao_data_static.mma655x); #endif ao_records_read++; ao_insert(); @@ -758,7 +775,10 @@ ao_sleep(void *wchan) ao_gps_static.tick = tick; ao_gps_static.latitude = int32(bytes, 0); ao_gps_static.longitude = int32(bytes, 4); - ao_gps_static.altitude = int32(bytes, 8); + { + int32_t altitude = int32(bytes, 8); + AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude); + } ao_gps_static.flags = bytes[13]; if (!ao_gps_count) ao_gps_first = ao_gps_static; @@ -768,21 +788,21 @@ ao_sleep(void *wchan) continue; } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) { if (strcmp(words[1], "reserved:") == 0) - ms5607_prom.reserved = strtoul(words[2], NULL, 10); + ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "sens:") == 0) - ms5607_prom.sens = strtoul(words[2], NULL, 10); + ao_ms5607_prom.sens = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "off:") == 0) - ms5607_prom.off = strtoul(words[2], NULL, 10); + ao_ms5607_prom.off = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "tcs:") == 0) - ms5607_prom.tcs = strtoul(words[2], NULL, 10); + ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "tco:") == 0) - ms5607_prom.tco = strtoul(words[2], NULL, 10); + ao_ms5607_prom.tco = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "tref:") == 0) - ms5607_prom.tref = strtoul(words[2], NULL, 10); + ao_ms5607_prom.tref = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "tempsens:") == 0) - ms5607_prom.tempsens = strtoul(words[2], NULL, 10); + ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "crc:") == 0) - ms5607_prom.crc = strtoul(words[2], NULL, 10); + ao_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); @@ -791,18 +811,71 @@ ao_sleep(void *wchan) for (i = 2; i < nword; i++) { for (j = 0; j < NUM_PYRO_VALUES; j++) - if (!strcmp (words[2], ao_pyro_values[j].name)) + if (!strcmp (words[i], 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); + printf("pyro %d condition %s value %d\n", p, words[i-1], val); *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val; } } } -#else +#endif +#if TELEMETRUM_V2 + if (log_format == AO_LOG_FORMAT_TELEMETRUM && nword == 14 && strlen(words[0]) == 1) { + int i; + struct ao_ms5607_value value; + + type = words[0][0]; + tick = strtoul(words[1], NULL, 16); +// printf ("%c %04x", type, tick); + for (i = 2; i < nword; i++) { + bytes[i - 2] = strtoul(words[i], NULL, 16); +// printf(" %02x", bytes[i-2]); + } +// printf ("\n"); + switch (type) { + case 'F': + ao_flight_ground_accel = int16(bytes, 2); + ao_flight_started = 1; + ao_ground_pres = int32(bytes, 4); + ao_ground_height = ao_pa_to_altitude(ao_ground_pres); + break; + case 'A': + ao_data_static.tick = tick; + ao_data_static.ms5607_raw.pres = int32(bytes, 0); + ao_data_static.ms5607_raw.temp = int32(bytes, 4); + ao_ms5607_convert(&ao_data_static.ms5607_raw, &value); + ao_data_static.mma655x = int16(bytes, 8); + ao_records_read++; + ao_insert(); + return; + } + continue; + } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) { + if (strcmp(words[1], "reserved:") == 0) + ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "sens:") == 0) + ao_ms5607_prom.sens = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "off:") == 0) + ao_ms5607_prom.off = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "tcs:") == 0) + ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "tco:") == 0) + ao_ms5607_prom.tco = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "tref:") == 0) + ao_ms5607_prom.tref = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "tempsens:") == 0) + ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "crc:") == 0) + ao_ms5607_prom.crc = strtoul(words[2], NULL, 10); + continue; + } +#endif +#if TELEMETRUM_V1 if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) { type = words[0][0]; tick = strtoul(words[1], NULL, 16); @@ -829,6 +902,9 @@ ao_sleep(void *wchan) } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 && strcmp(words[1], "lockout:") == 0) { ao_config.apogee_lockout = atoi(words[2]); + } else if (nword >= 3 && strcmp(words[0], "Pad") == 0 && + strcmp(words[1], "orientation:") == 0) { + ao_config.pad_orientation = atoi(words[2]); } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) { tick = atoi(words[10]); if (!ao_flight_started) { @@ -927,7 +1003,7 @@ ao_sleep(void *wchan) if (type != 'F' && !ao_flight_started) continue; -#if TELEMEGA +#if TELEMEGA || TELEMETRUM_V2 (void) a; (void) b; #else @@ -948,8 +1024,6 @@ ao_sleep(void *wchan) ao_data_static.tick = tick; ao_data_static.adc.accel = a; ao_data_static.adc.pres_real = b; - if (b < AO_MIN_BARO_VALUE) - b = AO_MIN_BARO_VALUE; ao_data_static.adc.pres = b; ao_records_read++; ao_insert(); @@ -991,6 +1065,7 @@ void run_flight_fixed(char *name, FILE *f, int summary, char *info) emulator_in = f; emulator_info = info; ao_summary = summary; + ao_flight_init(); ao_flight(); }