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