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