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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #ifndef AO_FLIGHT_TEST
  19 #include "ao.h"
  20 #include <ao_log.h>
  21 #endif
  22
  23 #if HAS_MPU6000
  24 #include <ao_quaternion.h>
  25 #endif
  26
  27 #ifndef HAS_ACCEL
  28 #error Please define HAS_ACCEL
  29 #endif
  30
  31 #ifndef HAS_GPS
  32 #error Please define HAS_GPS
  33 #endif
  34
  35 #ifndef HAS_USB
  36 #error Please define HAS_USB
  37 #endif
  38
  39 #ifndef HAS_TELEMETRY
  40 #define HAS_TELEMETRY   HAS_RADIO
  41 #endif
  42
  43 /* Main flight thread. */
  44
  45 __pdata enum ao_flight_state    ao_flight_state;        /* current flight state */
  46 __pdata uint16_t                ao_boost_tick;          /* time of launch detect */
  47 __pdata uint16_t                ao_motor_number;        /* number of motors burned so far */
  48
  49 #if HAS_SENSOR_ERRORS
  50 /* Any sensor can set this to mark the flight computer as 'broken' */
  51 __xdata uint8_t                 ao_sensor_errors;
  52 #endif
  53
  54 /*
  55  * track min/max data over a long interval to detect
  56  * resting
  57  */
  58 static __data uint16_t          ao_interval_end;
  59 static __data int16_t           ao_interval_min_height;
  60 static __data int16_t           ao_interval_max_height;
  61 #if HAS_ACCEL
  62 static __data int16_t           ao_coast_avg_accel;
  63 #endif
  64
  65 __pdata uint8_t                 ao_flight_force_idle;
  66
  67 /* We also have a clock, which can be used to sanity check things in
  68  * case of other failures
  69  */
  70
  71 #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
  72
  73 /* Landing is detected by getting constant readings from both pressure and accelerometer
  74  * for a fairly long time (AO_INTERVAL_TICKS)
  75  */
  76 #define AO_INTERVAL_TICKS       AO_SEC_TO_TICKS(10)
  77
  78 #define abs(a)  ((a) < 0 ? -(a) : (a))
  79
  80 void
  81 ao_flight(void)
  82 {
  83         ao_sample_init();
  84         ao_flight_state = ao_flight_startup;
  85         for (;;) {
  86
  87                 /*
  88                  * Process ADC samples, just looping
  89                  * until the sensors are calibrated.
  90                  */
  91                 if (!ao_sample())
  92                         continue;
  93
  94                 switch (ao_flight_state) {
  95                 case ao_flight_startup:
  96
  97                         /* Check to see what mode we should go to.
  98                          *  - Invalid mode if accel cal appears to be out
  99                          *  - pad mode if we're upright,
 100                          *  - idle mode otherwise
 101                          */
 102 #if HAS_ACCEL
 103                         if (ao_config.accel_plus_g == 0 ||
 104                             ao_config.accel_minus_g == 0 ||
 105                             ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
 106                             ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
 107                             ao_ground_height < -1000 ||
 108                             ao_ground_height > 7000)
 109                         {
 110                                 /* Detected an accel value outside -1.5g to 1.5g
 111                                  * (or uncalibrated values), so we go into invalid mode
 112                                  */
 113                                 ao_flight_state = ao_flight_invalid;
 114
 115 #if HAS_RADIO && PACKET_HAS_SLAVE
 116                                 /* Turn on packet system in invalid mode on TeleMetrum */
 117                                 ao_packet_slave_start();
 118 #endif
 119                         } else
 120 #endif
 121                                 if (!ao_flight_force_idle
 122 #if HAS_ACCEL
 123                                     && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
 124 #endif
 125                                         )
 126                         {
 127                                 /* Set pad mode - we can fly! */
 128                                 ao_flight_state = ao_flight_pad;
 129 #if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
 130                                 /* Disable the USB controller in flight mode
 131                                  * to save power
 132                                  */
 133                                 ao_usb_disable();
 134 #endif
 135
 136 #if !HAS_ACCEL && PACKET_HAS_SLAVE
 137                                 /* Disable packet mode in pad state on TeleMini */
 138                                 ao_packet_slave_stop();
 139 #endif
 140
 141 #if HAS_TELEMETRY
 142                                 /* Turn on telemetry system */
 143                                 ao_rdf_set(1);
 144                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 145 #endif
 146 #if HAS_LED
 147                                 /* signal successful initialization by turning off the LED */
 148                                 ao_led_off(AO_LED_RED);
 149 #endif
 150                         } else {
 151                                 /* Set idle mode */
 152                                 ao_flight_state = ao_flight_idle;
 153 #if HAS_SENSOR_ERRORS
 154                                 if (ao_sensor_errors)
 155                                         ao_flight_state = ao_flight_invalid;
 156 #endif
 157
 158 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
 159                                 /* Turn on packet system in idle mode on TeleMetrum */
 160                                 ao_packet_slave_start();
 161 #endif
 162
 163 #if HAS_LED
 164                                 /* signal successful initialization by turning off the LED */
 165                                 ao_led_off(AO_LED_RED);
 166 #endif
 167                         }
 168                         /* wakeup threads due to state change */
 169                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 170
 171                         break;
 172                 case ao_flight_pad:
 173
 174                         /* pad to boost:
 175                          *
 176                          * barometer: > 20m vertical motion
 177                          *             OR
 178                          * accelerometer: > 2g AND velocity > 5m/s
 179                          *
 180                          * The accelerometer should always detect motion before
 181                          * the barometer, but we use both to make sure this
 182                          * transition is detected. If the device
 183                          * doesn't have an accelerometer, then ignore the
 184                          * speed and acceleration as they are quite noisy
 185                          * on the pad.
 186                          */
 187                         if (ao_height > AO_M_TO_HEIGHT(20)
 188 #if HAS_ACCEL
 189                             || (ao_accel > AO_MSS_TO_ACCEL(20) &&
 190                                 ao_speed > AO_MS_TO_SPEED(5))
 191 #endif
 192                                 )
 193                         {
 194                                 ao_flight_state = ao_flight_boost;
 195                                 ao_boost_tick = ao_sample_tick;
 196
 197                                 /* start logging data */
 198                                 ao_log_start();
 199
 200 #if HAS_TELEMETRY
 201                                 /* Increase telemetry rate */
 202                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
 203
 204                                 /* disable RDF beacon */
 205                                 ao_rdf_set(0);
 206 #endif
 207
 208 #if HAS_GPS
 209                                 /* Record current GPS position by waking up GPS log tasks */
 210                                 ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
 211                                 ao_wakeup(&ao_gps_new);
 212 #endif
 213
 214                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 215                         }
 216                         break;
 217                 case ao_flight_boost:
 218
 219                         /* boost to fast:
 220                          *
 221                          * accelerometer: start to fall at > 1/4 G
 222                          *              OR
 223                          * time: boost for more than 15 seconds
 224                          *
 225                          * Detects motor burn out by the switch from acceleration to
 226                          * deceleration, or by waiting until the maximum burn duration
 227                          * (15 seconds) has past.
 228                          */
 229                         if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
 230                             (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
 231                         {
 232 #if HAS_ACCEL
 233                                 ao_flight_state = ao_flight_fast;
 234                                 ao_coast_avg_accel = ao_accel;
 235 #else
 236                                 ao_flight_state = ao_flight_coast;
 237 #endif
 238                                 ++ao_motor_number;
 239                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 240                         }
 241                         break;
 242 #if HAS_ACCEL
 243                 case ao_flight_fast:
 244                         /*
 245                          * This is essentially the same as coast,
 246                          * but the barometer is being ignored as
 247                          * it may be unreliable.
 248                          */
 249                         if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
 250                         {
 251                                 ao_flight_state = ao_flight_coast;
 252                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 253                         } else
 254                                 goto check_re_boost;
 255                         break;
 256 #endif
 257                 case ao_flight_coast:
 258
 259                         /*
 260                          * By customer request - allow the user
 261                          * to lock out apogee detection for a specified
 262                          * number of seconds.
 263                          */
 264                         if (ao_config.apogee_lockout) {
 265                                 if ((ao_sample_tick - ao_boost_tick) <
 266                                     AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 267                                         break;
 268                         }
 269
 270                         /* apogee detect: coast to drogue deploy:
 271                          *
 272                          * speed: < 0
 273                          *
 274                          * Also make sure the model altitude is tracking
 275                          * the measured altitude reasonably closely; otherwise
 276                          * we're probably transsonic.
 277                          */
 278                         if (ao_speed < 0
 279 #if !HAS_ACCEL
 280                             && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
 281 #endif
 282                                 )
 283                         {
 284 #if HAS_IGNITE
 285                                 /* ignite the drogue charge */
 286                                 ao_ignite(ao_igniter_drogue);
 287 #endif
 288
 289 #if HAS_TELEMETRY
 290                                 /* slow down the telemetry system */
 291                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 292
 293                                 /* Turn the RDF beacon back on */
 294                                 ao_rdf_set(1);
 295 #endif
 296
 297                                 /* and enter drogue state */
 298                                 ao_flight_state = ao_flight_drogue;
 299                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 300                         }
 301 #if HAS_ACCEL
 302                         else {
 303                         check_re_boost:
 304                                 ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
 305                                 if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
 306                                         ao_boost_tick = ao_sample_tick;
 307                                         ao_flight_state = ao_flight_boost;
 308                                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 309                                 }
 310                         }
 311 #endif
 312
 313                         break;
 314                 case ao_flight_drogue:
 315
 316                         /* drogue to main deploy:
 317                          *
 318                          * barometer: reach main deploy altitude
 319                          *
 320                          * Would like to use the accelerometer for this test, but
 321                          * the orientation of the flight computer is unknown after
 322                          * drogue deploy, so we ignore it. Could also detect
 323                          * high descent rate using the pressure sensor to
 324                          * recognize drogue deploy failure and eject the main
 325                          * at that point. Perhaps also use the drogue sense lines
 326                          * to notice continutity?
 327                          */
 328                         if (ao_height <= ao_config.main_deploy)
 329                         {
 330 #if HAS_IGNITE
 331                                 ao_ignite(ao_igniter_main);
 332 #endif
 333
 334                                 /*
 335                                  * Start recording min/max height
 336                                  * to figure out when the rocket has landed
 337                                  */
 338
 339                                 /* initialize interval values */
 340                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 341
 342                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 343
 344                                 ao_flight_state = ao_flight_main;
 345                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 346                         }
 347                         break;
 348
 349                         /* fall through... */
 350                 case ao_flight_main:
 351
 352                         /* main to land:
 353                          *
 354                          * barometer: altitude stable
 355                          */
 356
 357                         if (ao_avg_height < ao_interval_min_height)
 358                                 ao_interval_min_height = ao_avg_height;
 359                         if (ao_avg_height > ao_interval_max_height)
 360                                 ao_interval_max_height = ao_avg_height;
 361
 362                         if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
 363                                 if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
 364                                 {
 365                                         ao_flight_state = ao_flight_landed;
 366
 367                                         /* turn off the ADC capture */
 368                                         ao_timer_set_adc_interval(0);
 369
 370                                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 371                                 }
 372                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 373                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 374                         }
 375                         break;
 376 #if HAS_FLIGHT_DEBUG
 377                 case ao_flight_test:
 378 #if HAS_GYRO
 379                         printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
 380                                 ao_sample_orient,
 381                                 ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
 382                                 ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
 383                                 ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
 384 #endif
 385                         flush();
 386                         break;
 387 #endif /* HAS_FLIGHT_DEBUG */
 388                 default:
 389                         break;
 390                 }
 391         }
 392 }
 393
 394 #if HAS_FLIGHT_DEBUG
 395 static inline int int_part(int16_t i)   { return i >> 4; }
 396 static inline int frac_part(int16_t i)  { return ((i & 0xf) * 100 + 8) / 16; }
 397
 398 static void
 399 ao_flight_dump(void)
 400 {
 401 #if HAS_ACCEL
 402         int16_t accel;
 403
 404         accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16;
 405 #endif
 406
 407         printf ("sample:\n");
 408         printf ("  tick        %d\n", ao_sample_tick);
 409         printf ("  raw pres    %d\n", ao_sample_pres);
 410 #if HAS_ACCEL
 411         printf ("  raw accel   %d\n", ao_sample_accel);
 412 #endif
 413         printf ("  ground pres %d\n", ao_ground_pres);
 414         printf ("  ground alt  %d\n", ao_ground_height);
 415 #if HAS_ACCEL
 416         printf ("  raw accel   %d\n", ao_sample_accel);
 417         printf ("  groundaccel %d\n", ao_ground_accel);
 418         printf ("  accel_2g    %d\n", ao_accel_2g);
 419 #endif
 420
 421         printf ("  alt         %d\n", ao_sample_alt);
 422         printf ("  height      %d\n", ao_sample_height);
 423 #if HAS_ACCEL
 424         printf ("  accel       %d.%02d\n", int_part(accel), frac_part(accel));
 425 #endif
 426
 427
 428         printf ("kalman:\n");
 429         printf ("  height      %d\n", ao_height);
 430         printf ("  speed       %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
 431         printf ("  accel       %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
 432         printf ("  max_height  %d\n", ao_max_height);
 433         printf ("  avg_height  %d\n", ao_avg_height);
 434         printf ("  error_h     %d\n", ao_error_h);
 435         printf ("  error_avg   %d\n", ao_error_h_sq_avg);
 436 }
 437
 438 static void
 439 ao_gyro_test(void)
 440 {
 441         ao_flight_state = ao_flight_test;
 442         ao_getchar();
 443         ao_flight_state = ao_flight_idle;
 444 }
 445
 446 uint8_t ao_orient_test;
 447
 448 static void
 449 ao_orient_test_select(void)
 450 {
 451         ao_orient_test = !ao_orient_test;
 452 }
 453
 454 __code struct ao_cmds ao_flight_cmds[] = {
 455         { ao_flight_dump,       "F\0Dump flight status" },
 456         { ao_gyro_test,         "G\0Test gyro code" },
 457         { ao_orient_test_select,"O\0Test orientation code" },
 458         { 0, NULL },
 459 };
 460 #endif
 461
 462 static __xdata struct ao_task   flight_task;
 463
 464 void
 465 ao_flight_init(void)
 466 {
 467         ao_flight_state = ao_flight_startup;
 468 #if HAS_FLIGHT_DEBUG
 469         ao_cmd_register(&ao_flight_cmds[0]);
 470 #endif
 471         ao_add_task(&flight_task, ao_flight, "flight");
 472 }