git.gag.com Git - fw/altos/blob - src/core/ao_flight.c

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