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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 most recent boost detect */
  52 __pdata uint16_t                ao_launch_tick;         /* time of first boost detect */
  53 __pdata uint16_t                ao_motor_number;        /* number of motors burned so far */
  54
  55 #if HAS_SENSOR_ERRORS
  56 /* Any sensor can set this to mark the flight computer as 'broken' */
  57 __xdata uint8_t                 ao_sensor_errors;
  58 #endif
  59
  60 /*
  61  * track min/max data over a long interval to detect
  62  * resting
  63  */
  64 static __data uint16_t          ao_interval_end;
  65 static __data ao_v_t            ao_interval_min_height;
  66 static __data ao_v_t            ao_interval_max_height;
  67 #if HAS_ACCEL
  68 static __data ao_v_t            ao_coast_avg_accel;
  69 #endif
  70
  71 __pdata uint8_t                 ao_flight_force_idle;
  72
  73 /* We also have a clock, which can be used to sanity check things in
  74  * case of other failures
  75  */
  76
  77 #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
  78
  79 /* Landing is detected by getting constant readings from both pressure and accelerometer
  80  * for a fairly long time (AO_INTERVAL_TICKS)
  81  */
  82 #define AO_INTERVAL_TICKS       AO_SEC_TO_TICKS(10)
  83
  84 #define abs(a)  ((a) < 0 ? -(a) : (a))
  85
  86 void
  87 ao_flight(void)
  88 {
  89         ao_sample_init();
  90         ao_flight_state = ao_flight_startup;
  91         for (;;) {
  92
  93                 /*
  94                  * Process ADC samples, just looping
  95                  * until the sensors are calibrated.
  96                  */
  97                 if (!ao_sample())
  98                         continue;
  99
 100                 switch (ao_flight_state) {
 101                 case ao_flight_startup:
 102
 103                         /* Check to see what mode we should go to.
 104                          *  - Invalid mode if accel cal appears to be out
 105                          *  - pad mode if we're upright,
 106                          *  - idle mode otherwise
 107                          */
 108 #if HAS_ACCEL
 109                         if (ao_config.accel_plus_g == 0 ||
 110                             ao_config.accel_minus_g == 0 ||
 111                             ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
 112                             ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
 113                             ao_ground_height < -1000 ||
 114                             ao_ground_height > 7000)
 115                         {
 116                                 /* Detected an accel value outside -1.5g to 1.5g
 117                                  * (or uncalibrated values), so we go into invalid mode
 118                                  */
 119                                 ao_flight_state = ao_flight_invalid;
 120
 121 #if HAS_RADIO && PACKET_HAS_SLAVE
 122                                 /* Turn on packet system in invalid mode on TeleMetrum */
 123                                 ao_packet_slave_start();
 124 #endif
 125                         } else
 126 #endif
 127                                 if (!ao_flight_force_idle
 128 #if HAS_ACCEL
 129                                     && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
 130 #endif
 131                                         )
 132                         {
 133                                 /* Set pad mode - we can fly! */
 134                                 ao_flight_state = ao_flight_pad;
 135 #if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE && !DEBUG
 136                                 /* Disable the USB controller in flight mode
 137                                  * to save power
 138                                  */
 139 #if HAS_FAKE_FLIGHT
 140                                 if (!ao_fake_flight_active)
 141 #endif
 142                                         ao_usb_disable();
 143 #endif
 144
 145 #if !HAS_ACCEL && PACKET_HAS_SLAVE
 146                                 /* Disable packet mode in pad state on TeleMini */
 147                                 ao_packet_slave_stop();
 148 #endif
 149
 150 #if HAS_TELEMETRY
 151                                 /* Turn on telemetry system */
 152                                 ao_rdf_set(1);
 153                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 154 #endif
 155 #if AO_LED_RED
 156                                 /* signal successful initialization by turning off the LED */
 157                                 ao_led_off(AO_LED_RED);
 158 #endif
 159                         } else {
 160                                 /* Set idle mode */
 161                                 ao_flight_state = ao_flight_idle;
 162 #if HAS_SENSOR_ERRORS
 163                                 if (ao_sensor_errors)
 164                                         ao_flight_state = ao_flight_invalid;
 165 #endif
 166
 167 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
 168                                 /* Turn on packet system in idle mode on TeleMetrum */
 169                                 ao_packet_slave_start();
 170 #endif
 171
 172 #if AO_LED_RED
 173                                 /* signal successful initialization by turning off the LED */
 174                                 ao_led_off(AO_LED_RED);
 175 #endif
 176                         }
 177                         /* wakeup threads due to state change */
 178                         ao_wakeup(&ao_flight_state);
 179
 180                         break;
 181                 case ao_flight_pad:
 182                         /* pad to boost:
 183                          *
 184                          * barometer: > 20m vertical motion
 185                          *             OR
 186                          * accelerometer: > 2g AND velocity > 5m/s
 187                          *
 188                          * The accelerometer should always detect motion before
 189                          * the barometer, but we use both to make sure this
 190                          * transition is detected. If the device
 191                          * doesn't have an accelerometer, then ignore the
 192                          * speed and acceleration as they are quite noisy
 193                          * on the pad.
 194                          */
 195                         if (ao_height > AO_M_TO_HEIGHT(20)
 196 #if HAS_ACCEL
 197                             || (ao_accel > AO_MSS_TO_ACCEL(20) &&
 198                                 ao_speed > AO_MS_TO_SPEED(5))
 199 #endif
 200                                 )
 201                         {
 202                                 ao_flight_state = ao_flight_boost;
 203                                 ao_launch_tick = ao_boost_tick = ao_sample_tick;
 204
 205                                 /* start logging data */
 206                                 ao_log_start();
 207
 208 #if HAS_TELEMETRY
 209                                 /* Increase telemetry rate */
 210                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
 211
 212                                 /* disable RDF beacon */
 213                                 ao_rdf_set(0);
 214 #endif
 215
 216 #if HAS_GPS
 217                                 /* Record current GPS position by waking up GPS log tasks */
 218                                 ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
 219                                 ao_wakeup(&ao_gps_new);
 220 #endif
 221
 222                                 ao_wakeup(&ao_flight_state);
 223                         }
 224                         break;
 225                 case ao_flight_boost:
 226
 227                         /* boost to fast:
 228                          *
 229                          * accelerometer: start to fall at > 1/4 G
 230                          *              OR
 231                          * time: boost for more than 15 seconds
 232                          *
 233                          * Detects motor burn out by the switch from acceleration to
 234                          * deceleration, or by waiting until the maximum burn duration
 235                          * (15 seconds) has past.
 236                          */
 237                         if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) ||
 238                             (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
 239                         {
 240 #if HAS_ACCEL
 241                                 ao_flight_state = ao_flight_fast;
 242                                 ao_coast_avg_accel = ao_accel;
 243 #else
 244                                 ao_flight_state = ao_flight_coast;
 245 #endif
 246                                 ++ao_motor_number;
 247                                 ao_wakeup(&ao_flight_state);
 248                         }
 249                         break;
 250 #if HAS_ACCEL
 251                 case ao_flight_fast:
 252                         /*
 253                          * This is essentially the same as coast,
 254                          * but the barometer is being ignored as
 255                          * it may be unreliable.
 256                          */
 257                         if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
 258                         {
 259                                 ao_flight_state = ao_flight_coast;
 260                                 ao_wakeup(&ao_flight_state);
 261                         } else
 262                                 goto check_re_boost;
 263                         break;
 264 #endif
 265                 case ao_flight_coast:
 266
 267                         /*
 268                          * By customer request - allow the user
 269                          * to lock out apogee detection for a specified
 270                          * number of seconds.
 271                          */
 272                         if (ao_config.apogee_lockout) {
 273                                 if ((int16_t) (ao_sample_tick - ao_launch_tick) <
 274                                     AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 275                                         break;
 276                         }
 277
 278                         /* apogee detect: coast to drogue deploy:
 279                          *
 280                          * speed: < 0
 281                          *
 282                          * Also make sure the model altitude is tracking
 283                          * the measured altitude reasonably closely; otherwise
 284                          * we're probably transsonic.
 285                          */
 286 #define AO_ERROR_BOUND  100
 287
 288                         if (ao_speed < 0
 289 #if !HAS_ACCEL
 290                             && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND)
 291 #endif
 292                                 )
 293                         {
 294 #if HAS_IGNITE
 295                                 /* ignite the drogue charge */
 296                                 ao_ignite(ao_igniter_drogue);
 297 #endif
 298
 299 #if HAS_TELEMETRY
 300                                 /* slow down the telemetry system */
 301                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 302
 303                                 /* Turn the RDF beacon back on */
 304                                 ao_rdf_set(1);
 305 #endif
 306
 307                                 /* and enter drogue state */
 308                                 ao_flight_state = ao_flight_drogue;
 309                                 ao_wakeup(&ao_flight_state);
 310                         }
 311 #if HAS_ACCEL
 312                         else {
 313                         check_re_boost:
 314                                 ao_coast_avg_accel = ao_coast_avg_accel + ((ao_accel - ao_coast_avg_accel) >> 5);
 315                                 if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
 316                                         ao_boost_tick = ao_sample_tick;
 317                                         ao_flight_state = ao_flight_boost;
 318                                         ao_wakeup(&ao_flight_state);
 319                                 }
 320                         }
 321 #endif
 322
 323                         break;
 324                 case ao_flight_drogue:
 325
 326                         /* drogue to main deploy:
 327                          *
 328                          * barometer: reach main deploy altitude
 329                          *
 330                          * Would like to use the accelerometer for this test, but
 331                          * the orientation of the flight computer is unknown after
 332                          * drogue deploy, so we ignore it. Could also detect
 333                          * high descent rate using the pressure sensor to
 334                          * recognize drogue deploy failure and eject the main
 335                          * at that point. Perhaps also use the drogue sense lines
 336                          * to notice continutity?
 337                          */
 338                         if (ao_height <= ao_config.main_deploy)
 339                         {
 340 #if HAS_IGNITE
 341                                 ao_ignite(ao_igniter_main);
 342 #endif
 343
 344                                 /*
 345                                  * Start recording min/max height
 346                                  * to figure out when the rocket has landed
 347                                  */
 348
 349                                 /* initialize interval values */
 350                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 351
 352                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 353
 354                                 ao_flight_state = ao_flight_main;
 355                                 ao_wakeup(&ao_flight_state);
 356                         }
 357                         break;
 358
 359                         /* fall through... */
 360                 case ao_flight_main:
 361
 362                         /* main to land:
 363                          *
 364                          * barometer: altitude stable
 365                          */
 366
 367                         if (ao_avg_height < ao_interval_min_height)
 368                                 ao_interval_min_height = ao_avg_height;
 369                         if (ao_avg_height > ao_interval_max_height)
 370                                 ao_interval_max_height = ao_avg_height;
 371
 372                         if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
 373                                 if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
 374                                 {
 375                                         ao_flight_state = ao_flight_landed;
 376
 377 #if HAS_ADC
 378                                         /* turn off the ADC capture */
 379                                         ao_timer_set_adc_interval(0);
 380 #endif
 381
 382                                         ao_wakeup(&ao_flight_state);
 383                                 }
 384                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 385                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 386                         }
 387                         break;
 388 #if HAS_FLIGHT_DEBUG
 389                 case ao_flight_test:
 390 #if HAS_GYRO
 391                         printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
 392                                 ao_sample_orient,
 393                                 ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
 394                                 ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
 395                                 ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
 396 #endif
 397                         flush();
 398                         break;
 399 #endif /* HAS_FLIGHT_DEBUG */
 400                 default:
 401                         break;
 402                 }
 403         }
 404 }
 405
 406 #if HAS_FLIGHT_DEBUG
 407 static inline int int_part(ao_v_t i)    { return i >> 4; }
 408 static inline int frac_part(ao_v_t i)   { return ((i & 0xf) * 100 + 8) / 16; }
 409
 410 static void
 411 ao_flight_dump(void)
 412 {
 413 #if HAS_ACCEL
 414         ao_v_t  accel;
 415
 416         accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
 417 #endif
 418
 419         printf ("sample:\n");
 420         printf ("  tick        %d\n", ao_sample_tick);
 421         printf ("  raw pres    %d\n", ao_sample_pres);
 422 #if HAS_ACCEL
 423         printf ("  raw accel   %d\n", ao_sample_accel);
 424 #endif
 425         printf ("  ground pres %d\n", ao_ground_pres);
 426         printf ("  ground alt  %d\n", ao_ground_height);
 427 #if HAS_ACCEL
 428         printf ("  raw accel   %d\n", ao_sample_accel);
 429         printf ("  groundaccel %d\n", ao_ground_accel);
 430         printf ("  accel_2g    %d\n", ao_accel_2g);
 431 #endif
 432
 433         printf ("  alt         %d\n", ao_sample_alt);
 434         printf ("  height      %d\n", ao_sample_height);
 435 #if HAS_ACCEL
 436         printf ("  accel       %d.%02d\n", int_part(accel), frac_part(accel));
 437 #endif
 438
 439
 440         printf ("kalman:\n");
 441         printf ("  height      %d\n", ao_height);
 442         printf ("  speed       %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
 443         printf ("  accel       %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
 444         printf ("  max_height  %d\n", ao_max_height);
 445         printf ("  avg_height  %d\n", ao_avg_height);
 446         printf ("  error_h     %d\n", ao_error_h);
 447         printf ("  error_avg   %d\n", ao_error_h_sq_avg);
 448 }
 449
 450 static void
 451 ao_gyro_test(void)
 452 {
 453         ao_flight_state = ao_flight_test;
 454         ao_getchar();
 455         ao_flight_state = ao_flight_idle;
 456 }
 457
 458 uint8_t ao_orient_test;
 459
 460 static void
 461 ao_orient_test_select(void)
 462 {
 463         ao_orient_test = !ao_orient_test;
 464 }
 465
 466 __code struct ao_cmds ao_flight_cmds[] = {
 467         { ao_flight_dump,       "F\0Dump flight status" },
 468         { ao_gyro_test,         "G\0Test gyro code" },
 469         { ao_orient_test_select,"O\0Test orientation code" },
 470         { 0, NULL },
 471 };
 472 #endif
 473
 474 static __xdata struct ao_task   flight_task;
 475
 476 void
 477 ao_flight_init(void)
 478 {
 479         ao_flight_state = ao_flight_startup;
 480 #if HAS_FLIGHT_DEBUG
 481         ao_cmd_register(&ao_flight_cmds[0]);
 482 #endif
 483         ao_add_task(&flight_task, ao_flight, "flight");
 484 }