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