git.gag.com Git - fw/altos/blob - src/kernel/ao_flight.c

   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; 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 < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
 131                             ao_ground_accel > 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                 case ao_flight_invalid:
 205                         printf("+g %d -g %d ga %d +g-NU %d -g+NU %d\n",
 206                                ao_config.accel_plus_g,
 207                                ao_config.accel_minus_g,
 208                                ao_ground_accel,
 209                                ao_config.accel_plus_g - ACCEL_NOSE_UP,
 210                                ao_config.accel_minus_g + ACCEL_NOSE_UP);
 211                         break;
 212 #if 0
 213                 case ao_flight_idle:
 214                         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);
 215                         break;
 216 #endif
 217
 218                 case ao_flight_pad:
 219                         /* pad to boost:
 220                          *
 221                          * barometer: > 20m vertical motion
 222                          *             OR
 223                          * accelerometer: > 2g AND velocity > 5m/s
 224                          *
 225                          * The accelerometer should always detect motion before
 226                          * the barometer, but we use both to make sure this
 227                          * transition is detected. If the device
 228                          * doesn't have an accelerometer, then ignore the
 229                          * speed and acceleration as they are quite noisy
 230                          * on the pad.
 231                          */
 232                         if (ao_height > AO_M_TO_HEIGHT(20)
 233 #if HAS_ACCEL
 234                             || (ao_accel > AO_MSS_TO_ACCEL(20)
 235 #if HAS_BARO
 236                                 && ao_speed > AO_MS_TO_SPEED(5)
 237 #endif
 238 )
 239 #endif
 240                                 )
 241                         {
 242                                 ao_flight_state = ao_flight_boost;
 243                                 ao_wakeup(&ao_flight_state);
 244
 245                                 ao_launch_tick = ao_boost_tick = ao_sample_tick;
 246
 247                                 /* start logging data */
 248 #if HAS_LOG
 249                                 ao_log_start();
 250 #endif
 251
 252 #if HAS_TELEMETRY
 253                                 /* Increase telemetry rate */
 254                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
 255
 256                                 /* disable RDF beacon */
 257                                 ao_rdf_set(0);
 258 #endif
 259
 260 #if HAS_GPS
 261                                 /* Record current GPS position by waking up GPS log tasks */
 262                                 ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
 263                                 ao_wakeup(&ao_gps_new);
 264 #endif
 265                         }
 266                         break;
 267                 case ao_flight_boost:
 268
 269                         /* boost to fast:
 270                          *
 271                          * accelerometer: start to fall at > 1/4 G
 272                          *              OR
 273                          * time: boost for more than 15 seconds
 274                          *
 275                          * Detects motor burn out by the switch from acceleration to
 276                          * deceleration, or by waiting until the maximum burn duration
 277                          * (15 seconds) has past.
 278                          */
 279                         if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) ||
 280                             (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
 281                         {
 282 #if HAS_ACCEL
 283 #if HAS_BARO
 284                                 ao_flight_state = ao_flight_fast;
 285 #else
 286                                 ao_flight_state = ao_flight_coast;
 287
 288                                 /* Initialize landing detection interval values */
 289                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 290
 291                                 init_bounds(ao_sample_accel_along, ao_interval_min_accel_along, ao_interval_max_accel_along);
 292                                 init_bounds(ao_sample_accel_across, ao_interval_min_accel_across, ao_interval_max_accel_across);
 293                                 init_bounds(ao_sample_accel_through, ao_interval_min_accel_through, ao_interval_max_accel_through);
 294 #endif
 295                                 ao_coast_avg_accel = ao_accel;
 296 #else
 297                                 ao_flight_state = ao_flight_coast;
 298 #endif
 299                                 ao_wakeup(&ao_flight_state);
 300                                 ++ao_motor_number;
 301                         }
 302                         break;
 303 #if HAS_ACCEL && HAS_BARO
 304                 case ao_flight_fast:
 305                         /*
 306                          * This is essentially the same as coast,
 307                          * but the barometer is being ignored as
 308                          * it may be unreliable.
 309                          */
 310                         if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
 311                         {
 312                                 ao_flight_state = ao_flight_coast;
 313                                 ao_wakeup(&ao_flight_state);
 314                         } else
 315                                 goto check_re_boost;
 316                         break;
 317 #endif
 318                 case ao_flight_coast:
 319
 320 #if HAS_BARO
 321                         /*
 322                          * By customer request - allow the user
 323                          * to lock out apogee detection for a specified
 324                          * number of seconds.
 325                          */
 326                         if (ao_config.apogee_lockout) {
 327                                 if ((int16_t) (ao_sample_tick - ao_launch_tick) <
 328                                     AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 329                                         break;
 330                         }
 331
 332                         /* apogee detect: coast to drogue deploy:
 333                          *
 334                          * speed: < 0
 335                          *
 336                          * Also make sure the model altitude is tracking
 337                          * the measured altitude reasonably closely; otherwise
 338                          * we're probably transsonic.
 339                          */
 340 #define AO_ERROR_BOUND  100
 341
 342                         if (ao_speed < 0
 343 #if !HAS_ACCEL
 344                             && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND)
 345 #endif
 346                                 )
 347                         {
 348                                 /* enter drogue state */
 349                                 ao_flight_state = ao_flight_drogue;
 350                                 ao_wakeup(&ao_flight_state);
 351 #if HAS_TELEMETRY
 352                                 /* slow down the telemetry system */
 353                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 354
 355                                 /* Turn the RDF beacon back on */
 356                                 ao_rdf_set(1);
 357 #endif
 358                         }
 359                         else
 360 #else /* not HAS_BARO */
 361                         /* coast to land:
 362                          *
 363                          * accel: values stable
 364                          */
 365                         check_bounds(ao_sample_accel_along, ao_interval_min_accel_along, ao_interval_max_accel_along);
 366                         check_bounds(ao_sample_accel_across, ao_interval_min_accel_across, ao_interval_max_accel_across);
 367                         check_bounds(ao_sample_accel_through, ao_interval_min_accel_through, ao_interval_max_accel_through);
 368
 369 #define MAX_QUIET_ACCEL 2
 370
 371                         if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
 372                                 if (ao_interval_max_accel_along - ao_interval_min_accel_along <= ao_data_accel_to_sample(MAX_QUIET_ACCEL) &&
 373                                     ao_interval_max_accel_across - ao_interval_min_accel_across <= ao_data_accel_to_sample(MAX_QUIET_ACCEL) &&
 374                                     ao_interval_max_accel_through - ao_interval_min_accel_through <= ao_data_accel_to_sample(MAX_QUIET_ACCEL))
 375                                 {
 376                                         ao_flight_state = ao_flight_landed;
 377                                         ao_wakeup(&ao_flight_state);
 378 #if HAS_ADC
 379                                         /* turn off the ADC capture */
 380                                         ao_timer_set_adc_interval(0);
 381 #endif
 382                                 }
 383
 384                                 /* Reset interval values */
 385                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 386
 387                                 init_bounds(ao_sample_accel_along, ao_interval_min_accel_along, ao_interval_max_accel_along);
 388                                 init_bounds(ao_sample_accel_across, ao_interval_min_accel_across, ao_interval_max_accel_across);
 389                                 init_bounds(ao_sample_accel_through, ao_interval_min_accel_through, ao_interval_max_accel_through);
 390                         }
 391 #endif
 392 #if HAS_ACCEL
 393                         {
 394 #if HAS_BARO
 395                         check_re_boost:
 396 #endif
 397                                 ao_coast_avg_accel = ao_coast_avg_accel + ((ao_accel - ao_coast_avg_accel) >> 5);
 398                                 if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
 399                                         ao_boost_tick = ao_sample_tick;
 400                                         ao_flight_state = ao_flight_boost;
 401                                         ao_wakeup(&ao_flight_state);
 402                                 }
 403                         }
 404 #endif
 405
 406                         break;
 407 #if HAS_BARO
 408                 case ao_flight_drogue:
 409
 410                         /* drogue to main deploy:
 411                          *
 412                          * barometer: reach main deploy altitude
 413                          *
 414                          * Would like to use the accelerometer for this test, but
 415                          * the orientation of the flight computer is unknown after
 416                          * drogue deploy, so we ignore it. Could also detect
 417                          * high descent rate using the pressure sensor to
 418                          * recognize drogue deploy failure and eject the main
 419                          * at that point. Perhaps also use the drogue sense lines
 420                          * to notice continutity?
 421                          */
 422                         if (ao_height <= ao_config.main_deploy)
 423                         {
 424                                 ao_flight_state = ao_flight_main;
 425                                 ao_wakeup(&ao_flight_state);
 426
 427                                 /*
 428                                  * Start recording min/max height
 429                                  * to figure out when the rocket has landed
 430                                  */
 431
 432                                 /* initialize interval values */
 433                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 434
 435                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 436                         }
 437                         break;
 438
 439                         /* fall through... */
 440                 case ao_flight_main:
 441
 442                         /* main to land:
 443                          *
 444                          * barometer: altitude stable
 445                          */
 446                         if (ao_avg_height < ao_interval_min_height)
 447                                 ao_interval_min_height = ao_avg_height;
 448                         if (ao_avg_height > ao_interval_max_height)
 449                                 ao_interval_max_height = ao_avg_height;
 450
 451                         if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
 452                                 if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
 453                                 {
 454                                         ao_flight_state = ao_flight_landed;
 455                                         ao_wakeup(&ao_flight_state);
 456 #if HAS_ADC
 457                                         /* turn off the ADC capture */
 458                                         ao_timer_set_adc_interval(0);
 459 #endif
 460                                 }
 461                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 462                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 463                         }
 464                         break;
 465 #endif /* HAS_BARO */
 466 #if HAS_FLIGHT_DEBUG
 467                 case ao_flight_test:
 468 #if HAS_GYRO
 469                         printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
 470                                 ao_sample_orient,
 471                                 ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
 472                                 ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
 473                                 ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
 474 #endif
 475                         flush();
 476                         break;
 477 #endif /* HAS_FLIGHT_DEBUG */
 478                 default:
 479                         break;
 480                 }
 481         }
 482 }
 483
 484 #if HAS_FLIGHT_DEBUG
 485 static inline int int_part(ao_v_t i)    { return i >> 4; }
 486 static inline int frac_part(ao_v_t i)   { return ((i & 0xf) * 100 + 8) / 16; }
 487
 488 static void
 489 ao_flight_dump(void)
 490 {
 491 #if HAS_ACCEL
 492         ao_v_t  accel;
 493
 494         accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
 495 #endif
 496
 497         printf ("sample:\n");
 498         printf ("  tick        %d\n", ao_sample_tick);
 499 #if HAS_BARO
 500         printf ("  raw pres    %d\n", ao_sample_pres);
 501 #endif
 502 #if HAS_ACCEL
 503         printf ("  raw accel   %d\n", ao_sample_accel);
 504 #endif
 505 #if HAS_BARO
 506         printf ("  ground pres %d\n", ao_ground_pres);
 507         printf ("  ground alt  %d\n", ao_ground_height);
 508 #endif
 509 #if HAS_ACCEL
 510         printf ("  raw accel   %d\n", ao_sample_accel);
 511         printf ("  groundaccel %d\n", ao_ground_accel);
 512         printf ("  accel_2g    %d\n", ao_accel_2g);
 513 #endif
 514
 515 #if HAS_BARO
 516         printf ("  alt         %d\n", ao_sample_alt);
 517         printf ("  height      %d\n", ao_sample_height);
 518 #endif
 519
 520 #if HAS_ACCEL
 521         printf ("  accel       %d.%02d\n", int_part(accel), frac_part(accel));
 522 #endif
 523
 524
 525         printf ("kalman:\n");
 526         printf ("  height      %d\n", ao_height);
 527         printf ("  speed       %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
 528         printf ("  accel       %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
 529         printf ("  max_height  %d\n", ao_max_height);
 530         printf ("  avg_height  %d\n", ao_avg_height);
 531         printf ("  error_h     %d\n", ao_error_h);
 532 #if !HAS_ACCEL
 533         printf ("  error_avg   %d\n", ao_error_h_sq_avg);
 534 #endif
 535 }
 536
 537 static void
 538 ao_gyro_test(void)
 539 {
 540         ao_flight_state = ao_flight_test;
 541         ao_getchar();
 542         ao_flight_state = ao_flight_idle;
 543 }
 544
 545 uint8_t ao_orient_test;
 546
 547 static void
 548 ao_orient_test_select(void)
 549 {
 550         ao_orient_test = !ao_orient_test;
 551 }
 552
 553 const struct ao_cmds ao_flight_cmds[] = {
 554         { ao_flight_dump,       "F\0Dump flight status" },
 555         { ao_gyro_test,         "G\0Test gyro code" },
 556         { ao_orient_test_select,"O\0Test orientation code" },
 557         { 0, NULL },
 558 };
 559 #endif
 560
 561 static struct ao_task   flight_task;
 562
 563 void
 564 ao_flight_init(void)
 565 {
 566         ao_flight_state = ao_flight_startup;
 567 #if HAS_FLIGHT_DEBUG
 568         ao_cmd_register(&ao_flight_cmds[0]);
 569 #endif
 570         ao_add_task(&flight_task, ao_flight, "flight");
 571 }