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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_IMU
  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 #if HAS_IMU
 108                             ao_sensor_errors ||
 109 #endif
 110                             ao_ground_height < -1000 ||
 111                             ao_ground_height > 7000)
 112                         {
 113                                 /* Detected an accel value outside -1.5g to 1.5g
 114                                  * (or uncalibrated values), so we go into invalid mode
 115                                  */
 116                                 ao_flight_state = ao_flight_invalid;
 117
 118 #if HAS_RADIO && PACKET_HAS_SLAVE
 119                                 /* Turn on packet system in invalid mode on TeleMetrum */
 120                                 ao_packet_slave_start();
 121 #endif
 122                         } else
 123 #endif
 124                                 if (!ao_flight_force_idle
 125 #if HAS_ACCEL
 126                                     && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
 127 #endif
 128                                         )
 129                         {
 130                                 /* Set pad mode - we can fly! */
 131                                 ao_flight_state = ao_flight_pad;
 132 #if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
 133                                 /* Disable the USB controller in flight mode
 134                                  * to save power
 135                                  */
 136                                 ao_usb_disable();
 137 #endif
 138
 139 #if !HAS_ACCEL && PACKET_HAS_SLAVE
 140                                 /* Disable packet mode in pad state on TeleMini */
 141                                 ao_packet_slave_stop();
 142 #endif
 143
 144 #if HAS_TELEMETRY
 145                                 /* Turn on telemetry system */
 146                                 ao_rdf_set(1);
 147                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 148 #endif
 149 #if HAS_LED
 150                                 /* signal successful initialization by turning off the LED */
 151                                 ao_led_off(AO_LED_RED);
 152 #endif
 153                         } else {
 154                                 /* Set idle mode */
 155                                 ao_flight_state = ao_flight_idle;
 156
 157 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
 158                                 /* Turn on packet system in idle mode on TeleMetrum */
 159                                 ao_packet_slave_start();
 160 #endif
 161
 162 #if HAS_LED
 163                                 /* signal successful initialization by turning off the LED */
 164                                 ao_led_off(AO_LED_RED);
 165 #endif
 166                         }
 167                         /* wakeup threads due to state change */
 168                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 169
 170                         break;
 171                 case ao_flight_pad:
 172
 173                         /* pad to boost:
 174                          *
 175                          * barometer: > 20m vertical motion
 176                          *             OR
 177                          * accelerometer: > 2g AND velocity > 5m/s
 178                          *
 179                          * The accelerometer should always detect motion before
 180                          * the barometer, but we use both to make sure this
 181                          * transition is detected. If the device
 182                          * doesn't have an accelerometer, then ignore the
 183                          * speed and acceleration as they are quite noisy
 184                          * on the pad.
 185                          */
 186                         if (ao_height > AO_M_TO_HEIGHT(20)
 187 #if HAS_ACCEL
 188                             || (ao_accel > AO_MSS_TO_ACCEL(20) &&
 189                                 ao_speed > AO_MS_TO_SPEED(5))
 190 #endif
 191                                 )
 192                         {
 193                                 ao_flight_state = ao_flight_boost;
 194                                 ao_boost_tick = ao_sample_tick;
 195
 196                                 /* start logging data */
 197                                 ao_log_start();
 198
 199 #if HAS_TELEMETRY
 200                                 /* Increase telemetry rate */
 201                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
 202
 203                                 /* disable RDF beacon */
 204                                 ao_rdf_set(0);
 205 #endif
 206
 207 #if HAS_GPS
 208                                 /* Record current GPS position by waking up GPS log tasks */
 209                                 ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
 210                                 ao_wakeup(&ao_gps_new);
 211 #endif
 212
 213                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 214                         }
 215                         break;
 216                 case ao_flight_boost:
 217
 218                         /* boost to fast:
 219                          *
 220                          * accelerometer: start to fall at > 1/4 G
 221                          *              OR
 222                          * time: boost for more than 15 seconds
 223                          *
 224                          * Detects motor burn out by the switch from acceleration to
 225                          * deceleration, or by waiting until the maximum burn duration
 226                          * (15 seconds) has past.
 227                          */
 228                         if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
 229                             (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
 230                         {
 231 #if HAS_ACCEL
 232                                 ao_flight_state = ao_flight_fast;
 233                                 ao_coast_avg_accel = ao_accel;
 234 #else
 235                                 ao_flight_state = ao_flight_coast;
 236 #endif
 237                                 ++ao_motor_number;
 238                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 239                         }
 240                         break;
 241 #if HAS_ACCEL
 242                 case ao_flight_fast:
 243                         /*
 244                          * This is essentially the same as coast,
 245                          * but the barometer is being ignored as
 246                          * it may be unreliable.
 247                          */
 248                         if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
 249                         {
 250                                 ao_flight_state = ao_flight_coast;
 251                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 252                         } else
 253                                 goto check_re_boost;
 254                         break;
 255 #endif
 256                 case ao_flight_coast:
 257
 258                         /*
 259                          * By customer request - allow the user
 260                          * to lock out apogee detection for a specified
 261                          * number of seconds.
 262                          */
 263                         if (ao_config.apogee_lockout) {
 264                                 if ((ao_sample_tick - ao_boost_tick) <
 265                                     AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 266                                         break;
 267                         }
 268
 269                         /* apogee detect: coast to drogue deploy:
 270                          *
 271                          * speed: < 0
 272                          *
 273                          * Also make sure the model altitude is tracking
 274                          * the measured altitude reasonably closely; otherwise
 275                          * we're probably transsonic.
 276                          */
 277                         if (ao_speed < 0
 278 #if !HAS_ACCEL
 279                             && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
 280 #endif
 281                                 )
 282                         {
 283 #if HAS_IGNITE
 284                                 /* ignite the drogue charge */
 285                                 ao_ignite(ao_igniter_drogue);
 286 #endif
 287
 288 #if HAS_TELEMETRY
 289                                 /* slow down the telemetry system */
 290                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 291
 292                                 /* Turn the RDF beacon back on */
 293                                 ao_rdf_set(1);
 294 #endif
 295
 296                                 /* and enter drogue state */
 297                                 ao_flight_state = ao_flight_drogue;
 298                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 299                         }
 300 #if HAS_ACCEL
 301                         else {
 302                         check_re_boost:
 303                                 ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
 304                                 if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
 305                                         ao_boost_tick = ao_sample_tick;
 306                                         ao_flight_state = ao_flight_boost;
 307                                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 308                                 }
 309                         }
 310 #endif
 311
 312                         break;
 313                 case ao_flight_drogue:
 314
 315                         /* drogue to main deploy:
 316                          *
 317                          * barometer: reach main deploy altitude
 318                          *
 319                          * Would like to use the accelerometer for this test, but
 320                          * the orientation of the flight computer is unknown after
 321                          * drogue deploy, so we ignore it. Could also detect
 322                          * high descent rate using the pressure sensor to
 323                          * recognize drogue deploy failure and eject the main
 324                          * at that point. Perhaps also use the drogue sense lines
 325                          * to notice continutity?
 326                          */
 327                         if (ao_height <= ao_config.main_deploy)
 328                         {
 329 #if HAS_IGNITE
 330                                 ao_ignite(ao_igniter_main);
 331 #endif
 332
 333                                 /*
 334                                  * Start recording min/max height
 335                                  * to figure out when the rocket has landed
 336                                  */
 337
 338                                 /* initialize interval values */
 339                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 340
 341                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 342
 343                                 ao_flight_state = ao_flight_main;
 344                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 345                         }
 346                         break;
 347
 348                         /* fall through... */
 349                 case ao_flight_main:
 350
 351                         /* main to land:
 352                          *
 353                          * barometer: altitude stable
 354                          */
 355
 356                         if (ao_avg_height < ao_interval_min_height)
 357                                 ao_interval_min_height = ao_avg_height;
 358                         if (ao_avg_height > ao_interval_max_height)
 359                                 ao_interval_max_height = ao_avg_height;
 360
 361                         if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
 362                                 if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
 363                                 {
 364                                         ao_flight_state = ao_flight_landed;
 365
 366                                         /* turn off the ADC capture */
 367                                         ao_timer_set_adc_interval(0);
 368
 369                                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 370                                 }
 371                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 372                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 373                         }
 374                         break;
 375 #if HAS_FLIGHT_DEBUG
 376                 case ao_flight_test:
 377 #if HAS_GYRO
 378                         printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
 379                                 ao_sample_orient,
 380                                 ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
 381                                 ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
 382                                 ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
 383 #endif
 384                         flush();
 385                         break;
 386 #endif /* HAS_FLIGHT_DEBUG */
 387                 default:
 388                         break;
 389                 }
 390         }
 391 }
 392
 393 #if HAS_FLIGHT_DEBUG
 394 static inline int int_part(int16_t i)   { return i >> 4; }
 395 static inline int frac_part(int16_t i)  { return ((i & 0xf) * 100 + 8) / 16; }
 396
 397 static void
 398 ao_flight_dump(void)
 399 {
 400 #if HAS_ACCEL
 401         int16_t accel;
 402
 403         accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16;
 404 #endif
 405
 406         printf ("sample:\n");
 407         printf ("  tick        %d\n", ao_sample_tick);
 408         printf ("  raw pres    %d\n", ao_sample_pres);
 409 #if HAS_ACCEL
 410         printf ("  raw accel   %d\n", ao_sample_accel);
 411 #endif
 412         printf ("  ground pres %d\n", ao_ground_pres);
 413         printf ("  ground alt  %d\n", ao_ground_height);
 414 #if HAS_ACCEL
 415         printf ("  raw accel   %d\n", ao_sample_accel);
 416         printf ("  groundaccel %d\n", ao_ground_accel);
 417         printf ("  accel_2g    %d\n", ao_accel_2g);
 418 #endif
 419
 420         printf ("  alt         %d\n", ao_sample_alt);
 421         printf ("  height      %d\n", ao_sample_height);
 422 #if HAS_ACCEL
 423         printf ("  accel       %d.%02d\n", int_part(accel), frac_part(accel));
 424 #endif
 425
 426
 427         printf ("kalman:\n");
 428         printf ("  height      %d\n", ao_height);
 429         printf ("  speed       %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
 430         printf ("  accel       %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
 431         printf ("  max_height  %d\n", ao_max_height);
 432         printf ("  avg_height  %d\n", ao_avg_height);
 433         printf ("  error_h     %d\n", ao_error_h);
 434         printf ("  error_avg   %d\n", ao_error_h_sq_avg);
 435 }
 436
 437 static void
 438 ao_gyro_test(void)
 439 {
 440         ao_flight_state = ao_flight_test;
 441         ao_getchar();
 442         ao_flight_state = ao_flight_idle;
 443 }
 444
 445 __code struct ao_cmds ao_flight_cmds[] = {
 446         { ao_flight_dump,       "F\0Dump flight status" },
 447         { ao_gyro_test,         "G\0Test gyro code" },
 448         { 0, NULL },
 449 };
 450 #endif
 451
 452 static __xdata struct ao_task   flight_task;
 453
 454 void
 455 ao_flight_init(void)
 456 {
 457         ao_flight_state = ao_flight_startup;
 458 #if HAS_FLIGHT_DEBUG
 459         ao_cmd_register(&ao_flight_cmds[0]);
 460 #endif
 461         ao_add_task(&flight_task, ao_flight, "flight");
 462 }