#define ACCEL_G 265
#define ACCEL_ZERO_G 16000
-#define ACCEL_NOSE_UP (ACCEL_ZERO_G - ACCEL_G * 2 /3)
+#define ACCEL_NOSE_UP (ACCEL_G * 2 /3)
#define ACCEL_BOOST ACCEL_G * 2
#define ACCEL_INT_LAND (ACCEL_G / 10)
#define ACCEL_VEL_LAND VEL_MPS_TO_COUNT(10)
ao_raw_accel_prev = 0;
ao_raw_accel = 0;
ao_raw_pres = 0;
- ao_interval_cur_min_pres = 0x7fff;
- ao_interval_cur_max_pres = -0x7fff;
- ao_interval_cur_min_accel = 0x7fff;
- ao_interval_cur_max_accel = -0x7fff;
ao_flight_tick = 0;
for (;;) {
ao_sleep(&ao_adc_ring);
ao_min_vel = -ao_flight_vel;
}
- if (ao_flight_pres < ao_interval_cur_min_pres)
- ao_interval_cur_min_pres = ao_flight_pres;
- if (ao_flight_pres > ao_interval_cur_max_pres)
- ao_interval_cur_max_pres = ao_flight_pres;
- if (ao_flight_accel < ao_interval_cur_min_accel)
- ao_interval_cur_min_accel = ao_flight_accel;
- if (ao_flight_accel > ao_interval_cur_max_accel)
- ao_interval_cur_max_accel = ao_flight_accel;
-
- if ((int16_t) (ao_flight_tick - ao_interval_end) >= 0) {
- ao_interval_max_pres = ao_interval_cur_max_pres;
- ao_interval_min_pres = ao_interval_cur_min_pres;
- ao_interval_max_accel = ao_interval_cur_max_accel;
- ao_interval_min_accel = ao_interval_cur_min_accel;
- ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
- ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
- ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
- }
-
switch (ao_flight_state) {
case ao_flight_startup:
ao_ground_accel = (ao_raw_accel_sum / nsamples);
ao_ground_pres = (ao_raw_pres_sum / nsamples);
ao_min_pres = ao_ground_pres;
- ao_main_pres = ao_ground_pres - BARO_MAIN;
+ ao_config_get();
+ ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
ao_flight_vel = 0;
ao_min_vel = 0;
- ao_interval_end = ao_flight_tick;
-
/* Go to launchpad state if the nose is pointing up */
- if (ao_flight_accel < ACCEL_NOSE_UP) {
+ ao_config_get();
+ if (ao_flight_accel < ao_config.accel_zero_g - ACCEL_NOSE_UP) {
/* Disable the USB controller in flight mode
* to save power
/* Turn on the Green LED in idle mode
*/
ao_led_on(AO_LED_GREEN);
- ao_timer_set_adc_interval(100);
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
/* signal successful initialization by turning off the LED */
/* slow down the telemetry system */
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
+ /* slow down the ADC sample rate */
+ ao_timer_set_adc_interval(10);
+
/* Enable RDF beacon */
ao_rdf_set(1);
ao_flight_state = ao_flight_drogue;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
+ /*
+ * Start recording min/max accel and pres for a while
+ * to figure out when the rocket has landed
+ */
+ /* Set the 'last' limits to max range to prevent
+ * early resting detection
+ */
+ ao_interval_min_accel = 0;
+ ao_interval_max_accel = 0x7fff;
+ ao_interval_min_pres = 0;
+ ao_interval_max_pres = 0x7fff;
+
+ /* initialize interval values */
+ ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
+
+ ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
+ ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
+
break;
case ao_flight_drogue:
ao_flight_state = ao_flight_main;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
+
/* fall through... */
case ao_flight_main:
* OR
* barometer: altitude stable and within 1000m of the launch altitude
*/
+
+ if (ao_flight_pres < ao_interval_cur_min_pres)
+ ao_interval_cur_min_pres = ao_flight_pres;
+ if (ao_flight_pres > ao_interval_cur_max_pres)
+ ao_interval_cur_max_pres = ao_flight_pres;
+ if (ao_flight_accel < ao_interval_cur_min_accel)
+ ao_interval_cur_min_accel = ao_flight_accel;
+ if (ao_flight_accel > ao_interval_cur_max_accel)
+ ao_interval_cur_max_accel = ao_flight_accel;
+
+ if ((int16_t) (ao_flight_tick - ao_interval_end) >= 0) {
+ ao_interval_max_pres = ao_interval_cur_max_pres;
+ ao_interval_min_pres = ao_interval_cur_min_pres;
+ ao_interval_max_accel = ao_interval_cur_max_accel;
+ ao_interval_min_accel = ao_interval_cur_min_accel;
+ ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
+ ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
+ ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
+ }
+
if ((abs(ao_flight_vel) < ACCEL_VEL_LAND &&
- (ao_interval_max_accel - ao_interval_min_accel) < ACCEL_INT_LAND) ||
+ (uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND) ||
(ao_flight_pres > ao_ground_pres - BARO_LAND &&
- (ao_interval_max_pres - ao_interval_min_pres) < BARO_INT_LAND))
+ (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND))
{
ao_flight_state = ao_flight_landed;
/* turn off the ADC capture */
ao_timer_set_adc_interval(0);
- /* stop logging data */
- ao_log_stop();
-
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
static void
ao_flight_status(void)
{
- printf("STATE: %7s accel: %d speed: %d altitude: %d\n",
+ printf("STATE: %7s accel: %d speed: %d altitude: %d main: %d\n",
ao_state_names[ao_flight_state],
AO_ACCEL_COUNT_TO_MSS(ACCEL_ZERO_G - ao_flight_accel),
AO_VEL_COUNT_TO_MS(ao_flight_vel),
- ao_pres_to_altitude(ao_flight_pres));
+ ao_pres_to_altitude(ao_flight_pres),
+ ao_pres_to_altitude(ao_main_pres));
}
static __xdata struct ao_task flight_task;