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