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