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