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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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #ifndef AO_FLIGHT_TEST
  20 #include "ao.h"
  21 #include <ao_log.h>
  22 #endif
  23
  24 #include <ao_flight.h>
  25
  26 #if HAS_MPU6000 || HAS_MPU9250
  27 #include <ao_quaternion.h>
  28 #endif
  29
  30 #ifndef HAS_ACCEL
  31 #error Please define HAS_ACCEL
  32 #endif
  33
  34 #ifndef HAS_GPS
  35 #error Please define HAS_GPS
  36 #endif
  37
  38 #ifndef HAS_USB
  39 #error Please define HAS_USB
  40 #endif
  41
  42 #if HAS_FAKE_FLIGHT
  43 #include <ao_fake_flight.h>
  44 #endif
  45
  46 #ifndef HAS_TELEMETRY
  47 #define HAS_TELEMETRY   HAS_RADIO
  48 #endif
  49
  50 /* Main flight thread. */
  51
  52 enum ao_flight_state    ao_flight_state;        /* current flight state */
  53 uint16_t                ao_boost_tick;          /* time of most recent boost detect */
  54 uint16_t                ao_launch_tick;         /* time of first boost detect */
  55 uint16_t                ao_motor_number;        /* number of motors burned so far */
  56
  57 #if HAS_SENSOR_ERRORS
  58 /* Any sensor can set this to mark the flight computer as 'broken' */
  59 uint8_t                 ao_sensor_errors;
  60 #endif
  61
  62 /*
  63  * track min/max data over a long interval to detect
  64  * resting
  65  */
  66 static uint16_t         ao_interval_end;
  67 #ifdef HAS_BARO
  68 static ao_v_t           ao_interval_min_height;
  69 static ao_v_t           ao_interval_max_height;
  70 #else
  71 static accel_t          ao_interval_min_accel_along, ao_interval_max_accel_along;
  72 static accel_t          ao_interval_min_accel_across, ao_interval_max_accel_across;
  73 static accel_t          ao_interval_min_accel_through, ao_interval_max_accel_through;
  74 #endif
  75 #if HAS_ACCEL
  76 static ao_v_t           ao_coast_avg_accel;
  77 #endif
  78
  79 #define init_bounds(_cur, _min, _max) do {                              \
  80                 _min = _max = _cur;                                     \
  81         } while (0)
  82
  83 #define check_bounds(_cur, _min, _max) do {     \
  84                 if (_cur < _min)                \
  85                         _min = _cur;            \
  86                 if (_cur > _max)                \
  87                         _max = _cur;            \
  88         } while(0)
  89
  90 uint8_t                 ao_flight_force_idle;
  91
  92 /* We also have a clock, which can be used to sanity check things in
  93  * case of other failures
  94  */
  95
  96 #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
  97
  98 /* Landing is detected by getting constant readings from both pressure and accelerometer
  99  * for a fairly long time (AO_INTERVAL_TICKS)
 100  */
 101 #define AO_INTERVAL_TICKS       AO_SEC_TO_TICKS(10)
 102
 103 #define abs(a)  ((a) < 0 ? -(a) : (a))
 104
 105 #if 0
 106 static bool accel_plus_g_failed;
 107 static bool accel_minus_g_failed;
 108 static bool accel_plus_failed;
 109 static bool accel_minus_failed;
 110
 111 static char *btos(bool x) { return x? "true" : "false"; }
 112 #endif
 113
 114 void
 115 ao_flight(void)
 116 {
 117         ao_sample_init();
 118         ao_flight_state = ao_flight_startup;
 119         for (;;) {
 120
 121                 /*
 122                  * Process ADC samples, just looping
 123                  * until the sensors are calibrated.
 124                  */
 125                 if (!ao_sample())
 126                         continue;
 127
 128                 switch (ao_flight_state) {
 129                 case ao_flight_startup:
 130
 131                         /* Check to see what mode we should go to.
 132                          *  - Invalid mode if accel cal appears to be out
 133                          *  - pad mode if we're upright,
 134                          *  - idle mode otherwise
 135                          */
 136 #if HAS_ACCEL
 137                         if (ao_config.accel_plus_g == 0 ||
 138                             ao_config.accel_minus_g == 0 ||
 139                             ao_ground_accel < (accel_t) ao_config.accel_plus_g - ACCEL_NOSE_UP ||
 140                             ao_ground_accel > (accel_t) ao_config.accel_minus_g + ACCEL_NOSE_UP
 141 #if HAS_BARO
 142                             || ao_ground_height < -1000 ||
 143                             ao_ground_height > 7000
 144 #endif
 145                                 )
 146                         {
 147 #if 0
 148                                 if (ao_config.accel_plus_g == 0)
 149                                         accel_plus_g_failed = true;
 150                                 if (ao_config.accel_minus_g == 0)
 151                                         accel_minus_g_failed = true;
 152                                 if (ao_ground_accel < (accel_t) ao_config.accel_plus_g - ACCEL_NOSE_UP)
 153                                         accel_plus_failed = true;
 154                                 if (ao_ground_accel > (accel_t) ao_config.accel_minus_g + ACCEL_NOSE_UP)
 155                                         accel_minus_failed = true;
 156 #endif
 157                                 /* Detected an accel value outside -1.5g to 1.5g
 158                                  * (or uncalibrated values), so we go into invalid mode
 159                                  */
 160                                 ao_flight_state = ao_flight_invalid;
 161
 162 #if HAS_RADIO && PACKET_HAS_SLAVE
 163                                 /* Turn on packet system in invalid mode on TeleMetrum */
 164                                 ao_packet_slave_start();
 165 #endif
 166                         } else
 167 #endif
 168                                 if (!ao_flight_force_idle
 169 #if HAS_ACCEL
 170                                     && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
 171 #endif
 172                                         )
 173                         {
 174                                 /* Set pad mode - we can fly! */
 175                                 ao_flight_state = ao_flight_pad;
 176 #if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE && !DEBUG
 177                                 /* Disable the USB controller in flight mode
 178                                  * to save power
 179                                  */
 180 #if HAS_FAKE_FLIGHT
 181                                 if (!ao_fake_flight_active)
 182 #endif
 183                                         ao_usb_disable();
 184 #endif
 185
 186 #if !HAS_ACCEL && PACKET_HAS_SLAVE
 187                                 /* Disable packet mode in pad state on TeleMini */
 188                                 ao_packet_slave_stop();
 189 #endif
 190
 191 #if HAS_TELEMETRY
 192                                 /* Turn on telemetry system */
 193                                 ao_rdf_set(1);
 194                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 195 #endif
 196 #if AO_LED_RED
 197                                 /* signal successful initialization by turning off the LED */
 198                                 ao_led_off(AO_LED_RED);
 199 #endif
 200                         } else {
 201                                 /* Set idle mode */
 202                                 ao_flight_state = ao_flight_idle;
 203 #if HAS_SENSOR_ERRORS
 204                                 if (ao_sensor_errors)
 205                                         ao_flight_state = ao_flight_invalid;
 206 #endif
 207
 208 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
 209                                 /* Turn on packet system in idle mode on TeleMetrum */
 210                                 ao_packet_slave_start();
 211 #endif
 212
 213 #if AO_LED_RED
 214                                 /* signal successful initialization by turning off the LED */
 215                                 ao_led_off(AO_LED_RED);
 216 #endif
 217                         }
 218                         /* wakeup threads due to state change */
 219                         ao_wakeup(&ao_flight_state);
 220
 221                         break;
 222
 223 #if 0
 224                 case ao_flight_invalid:
 225                         printf("+g? %s -g? %s +? %s -? %s +g %d -g %d ga %d +g-NU %d -g+NU %d\n",
 226                                btos(accel_plus_g_failed),
 227                                btos(accel_minus_g_failed),
 228                                btos(accel_plus_failed),
 229                                btos(accel_minus_failed),
 230                                ao_config.accel_plus_g,
 231                                ao_config.accel_minus_g,
 232                                ao_ground_accel,
 233                                ao_config.accel_plus_g - ACCEL_NOSE_UP,
 234                                ao_config.accel_minus_g + ACCEL_NOSE_UP);
 235                         break;
 236                 case ao_flight_idle:
 237                         printf("+g %d ga %d sa %d accel %ld speed %ld\n", ao_config.accel_plus_g, ao_ground_accel, ao_sample_accel, ao_accel, ao_speed);
 238                         break;
 239 #endif
 240
 241                 case ao_flight_pad:
 242                         /* pad to boost:
 243                          *
 244                          * barometer: > 20m vertical motion
 245                          *             OR
 246                          * accelerometer: > 2g AND velocity > 5m/s
 247                          *
 248                          * The accelerometer should always detect motion before
 249                          * the barometer, but we use both to make sure this
 250                          * transition is detected. If the device
 251                          * doesn't have an accelerometer, then ignore the
 252                          * speed and acceleration as they are quite noisy
 253                          * on the pad.
 254                          */
 255                         if (ao_height > AO_M_TO_HEIGHT(20)
 256 #if HAS_ACCEL
 257                             || (ao_accel > AO_MSS_TO_ACCEL(20)
 258                                 && ao_speed > AO_MS_TO_SPEED(5))
 259 #endif
 260                                 )
 261                         {
 262                                 ao_flight_state = ao_flight_boost;
 263                                 ao_wakeup(&ao_flight_state);
 264
 265                                 ao_launch_tick = ao_boost_tick = ao_sample_tick;
 266
 267                                 /* start logging data */
 268 #if HAS_LOG
 269                                 ao_log_start();
 270 #endif
 271
 272 #if HAS_TELEMETRY
 273                                 /* Increase telemetry rate */
 274                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
 275
 276                                 /* disable RDF beacon */
 277                                 ao_rdf_set(0);
 278 #endif
 279
 280 #if HAS_GPS
 281                                 /* Record current GPS position by waking up GPS log tasks */
 282                                 ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
 283                                 ao_wakeup(&ao_gps_new);
 284 #endif
 285                         }
 286                         break;
 287                 case ao_flight_boost:
 288
 289                         /* boost to fast:
 290                          *
 291                          * accelerometer: start to fall at > 1/4 G
 292                          *              OR
 293                          * time: boost for more than 15 seconds
 294                          *
 295                          * Detects motor burn out by the switch from acceleration to
 296                          * deceleration, or by waiting until the maximum burn duration
 297                          * (15 seconds) has past.
 298                          */
 299                         if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) ||
 300                             (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
 301                         {
 302 #if HAS_ACCEL
 303 #if HAS_BARO
 304                                 ao_flight_state = ao_flight_fast;
 305 #else
 306                                 ao_flight_state = ao_flight_coast;
 307
 308                                 /* Initialize landing detection interval values */
 309                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 310
 311                                 init_bounds(ao_sample_accel_along, ao_interval_min_accel_along, ao_interval_max_accel_along);
 312                                 init_bounds(ao_sample_accel_across, ao_interval_min_accel_across, ao_interval_max_accel_across);
 313                                 init_bounds(ao_sample_accel_through, ao_interval_min_accel_through, ao_interval_max_accel_through);
 314 #endif
 315                                 ao_coast_avg_accel = ao_accel;
 316 #else
 317                                 ao_flight_state = ao_flight_coast;
 318 #endif
 319                                 ao_wakeup(&ao_flight_state);
 320                                 ++ao_motor_number;
 321                         }
 322                         break;
 323 #if HAS_ACCEL && HAS_BARO
 324                 case ao_flight_fast:
 325                         /*
 326                          * This is essentially the same as coast,
 327                          * but the barometer is being ignored as
 328                          * it may be unreliable.
 329                          */
 330                         if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
 331                         {
 332                                 ao_flight_state = ao_flight_coast;
 333                                 ao_wakeup(&ao_flight_state);
 334                         } else
 335                                 goto check_re_boost;
 336                         break;
 337 #endif
 338                 case ao_flight_coast:
 339
 340 #if HAS_BARO
 341                         /*
 342                          * By customer request - allow the user
 343                          * to lock out apogee detection for a specified
 344                          * number of seconds.
 345                          */
 346                         if (ao_config.apogee_lockout) {
 347                                 if ((int16_t) (ao_sample_tick - ao_launch_tick) <
 348                                     AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 349                                         break;
 350                         }
 351
 352                         /* apogee detect: coast to drogue deploy:
 353                          *
 354                          * speed: < 0
 355                          *
 356                          * Also make sure the model altitude is tracking
 357                          * the measured altitude reasonably closely; otherwise
 358                          * we're probably transsonic.
 359                          */
 360 #define AO_ERROR_BOUND  100
 361
 362                         if (ao_speed < 0
 363 #if !HAS_ACCEL
 364                             && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND)
 365 #endif
 366                                 )
 367                         {
 368                                 /* enter drogue state */
 369                                 ao_flight_state = ao_flight_drogue;
 370                                 ao_wakeup(&ao_flight_state);
 371 #if HAS_TELEMETRY
 372                                 /* slow down the telemetry system */
 373                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 374
 375                                 /* Turn the RDF beacon back on */
 376                                 ao_rdf_set(1);
 377 #endif
 378                         }
 379                         else
 380 #else /* not HAS_BARO */
 381                         /* coast to land:
 382                          *
 383                          * accel: values stable
 384                          */
 385                         check_bounds(ao_sample_accel_along, ao_interval_min_accel_along, ao_interval_max_accel_along);
 386                         check_bounds(ao_sample_accel_across, ao_interval_min_accel_across, ao_interval_max_accel_across);
 387                         check_bounds(ao_sample_accel_through, ao_interval_min_accel_through, ao_interval_max_accel_through);
 388
 389 #define MAX_QUIET_ACCEL 2
 390
 391                         if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
 392                                 if (ao_interval_max_accel_along - ao_interval_min_accel_along <= ao_data_accel_to_sample(MAX_QUIET_ACCEL) &&
 393                                     ao_interval_max_accel_across - ao_interval_min_accel_across <= ao_data_accel_to_sample(MAX_QUIET_ACCEL) &&
 394                                     ao_interval_max_accel_through - ao_interval_min_accel_through <= ao_data_accel_to_sample(MAX_QUIET_ACCEL))
 395                                 {
 396                                         ao_flight_state = ao_flight_landed;
 397                                         ao_wakeup(&ao_flight_state);
 398 #if HAS_ADC
 399                                         /* turn off the ADC capture */
 400                                         ao_timer_set_adc_interval(0);
 401 #endif
 402                                 }
 403
 404                                 /* Reset interval values */
 405                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 406
 407                                 init_bounds(ao_sample_accel_along, ao_interval_min_accel_along, ao_interval_max_accel_along);
 408                                 init_bounds(ao_sample_accel_across, ao_interval_min_accel_across, ao_interval_max_accel_across);
 409                                 init_bounds(ao_sample_accel_through, ao_interval_min_accel_through, ao_interval_max_accel_through);
 410                         }
 411 #endif
 412 #if HAS_ACCEL
 413                         {
 414 #if HAS_BARO
 415                         check_re_boost:
 416 #endif
 417                                 ao_coast_avg_accel = ao_coast_avg_accel + ((ao_accel - ao_coast_avg_accel) >> 5);
 418                                 if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
 419                                         ao_boost_tick = ao_sample_tick;
 420                                         ao_flight_state = ao_flight_boost;
 421                                         ao_wakeup(&ao_flight_state);
 422                                 }
 423                         }
 424 #endif
 425
 426                         break;
 427 #if HAS_BARO
 428                 case ao_flight_drogue:
 429
 430                         /* drogue to main deploy:
 431                          *
 432                          * barometer: reach main deploy altitude
 433                          *
 434                          * Would like to use the accelerometer for this test, but
 435                          * the orientation of the flight computer is unknown after
 436                          * drogue deploy, so we ignore it. Could also detect
 437                          * high descent rate using the pressure sensor to
 438                          * recognize drogue deploy failure and eject the main
 439                          * at that point. Perhaps also use the drogue sense lines
 440                          * to notice continutity?
 441                          */
 442                         if (ao_height <= ao_config.main_deploy)
 443                         {
 444                                 ao_flight_state = ao_flight_main;
 445                                 ao_wakeup(&ao_flight_state);
 446
 447                                 /*
 448                                  * Start recording min/max height
 449                                  * to figure out when the rocket has landed
 450                                  */
 451
 452                                 /* initialize interval values */
 453                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 454
 455                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 456                         }
 457                         break;
 458
 459                         /* fall through... */
 460                 case ao_flight_main:
 461
 462                         /* main to land:
 463                          *
 464                          * barometer: altitude stable
 465                          */
 466                         if (ao_avg_height < ao_interval_min_height)
 467                                 ao_interval_min_height = ao_avg_height;
 468                         if (ao_avg_height > ao_interval_max_height)
 469                                 ao_interval_max_height = ao_avg_height;
 470
 471                         if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
 472                                 if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
 473                                 {
 474                                         ao_flight_state = ao_flight_landed;
 475                                         ao_wakeup(&ao_flight_state);
 476 #if HAS_ADC
 477                                         /* turn off the ADC capture */
 478                                         ao_timer_set_adc_interval(0);
 479 #endif
 480                                 }
 481                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 482                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 483                         }
 484                         break;
 485 #endif /* HAS_BARO */
 486 #if HAS_FLIGHT_DEBUG
 487                 case ao_flight_test:
 488 #if HAS_GYRO
 489                         printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
 490                                 ao_sample_orient,
 491                                 ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
 492                                 ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
 493                                 ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
 494 #endif
 495                         flush();
 496                         break;
 497 #endif /* HAS_FLIGHT_DEBUG */
 498                 default:
 499                         break;
 500                 }
 501         }
 502 }
 503
 504 #if HAS_FLIGHT_DEBUG
 505 static inline int int_part(ao_v_t i)    { return i >> 4; }
 506 static inline int frac_part(ao_v_t i)   { return ((i & 0xf) * 100 + 8) / 16; }
 507
 508 static void
 509 ao_flight_dump(void)
 510 {
 511 #if HAS_ACCEL
 512         ao_v_t  accel;
 513
 514         accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
 515 #endif
 516
 517         printf ("sample:\n");
 518         printf ("  tick        %d\n", ao_sample_tick);
 519 #if HAS_BARO
 520         printf ("  raw pres    %d\n", ao_sample_pres);
 521 #endif
 522 #if HAS_ACCEL
 523         printf ("  raw accel   %d\n", ao_sample_accel);
 524 #endif
 525 #if HAS_BARO
 526         printf ("  ground pres %d\n", ao_ground_pres);
 527         printf ("  ground alt  %d\n", ao_ground_height);
 528 #endif
 529 #if HAS_ACCEL
 530         printf ("  raw accel   %d\n", ao_sample_accel);
 531         printf ("  groundaccel %d\n", ao_ground_accel);
 532         printf ("  accel_2g    %d\n", ao_accel_2g);
 533 #endif
 534
 535 #if HAS_BARO
 536         printf ("  alt         %d\n", ao_sample_alt);
 537         printf ("  height      %d\n", ao_sample_height);
 538 #endif
 539
 540 #if HAS_ACCEL
 541         printf ("  accel       %d.%02d\n", int_part(accel), frac_part(accel));
 542 #endif
 543
 544
 545         printf ("kalman:\n");
 546         printf ("  height      %d\n", ao_height);
 547         printf ("  speed       %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
 548         printf ("  accel       %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
 549         printf ("  max_height  %d\n", ao_max_height);
 550         printf ("  avg_height  %d\n", ao_avg_height);
 551         printf ("  error_h     %d\n", ao_error_h);
 552 #if !HAS_ACCEL
 553         printf ("  error_avg   %d\n", ao_error_h_sq_avg);
 554 #endif
 555 }
 556
 557 static void
 558 ao_gyro_test(void)
 559 {
 560         ao_flight_state = ao_flight_test;
 561         ao_getchar();
 562         ao_flight_state = ao_flight_idle;
 563 }
 564
 565 uint8_t ao_orient_test;
 566
 567 static void
 568 ao_orient_test_select(void)
 569 {
 570         ao_orient_test = !ao_orient_test;
 571 }
 572
 573 const struct ao_cmds ao_flight_cmds[] = {
 574         { ao_flight_dump,       "F\0Dump flight status" },
 575         { ao_gyro_test,         "G\0Test gyro code" },
 576         { ao_orient_test_select,"O\0Test orientation code" },
 577         { 0, NULL },
 578 };
 579 #endif
 580
 581 static struct ao_task   flight_task;
 582
 583 void
 584 ao_flight_init(void)
 585 {
 586         ao_flight_state = ao_flight_startup;
 587 #if HAS_FLIGHT_DEBUG
 588         ao_cmd_register(&ao_flight_cmds[0]);
 589 #endif
 590         ao_add_task(&flight_task, ao_flight, "flight");
 591 }