*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
+ * the Free Software Foundation; version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
+#ifndef AO_FLIGHT_TEST
#include "ao.h"
+#endif
/* Main flight thread. */
-__xdata struct ao_adc ao_flight_data; /* last acquired data */
-__data enum flight_state ao_flight_state; /* current flight state */
-__data uint16_t ao_flight_tick; /* time of last data */
-__data int16_t ao_flight_accel; /* filtered acceleration */
-__data int16_t ao_flight_pres; /* filtered pressure */
-__data int16_t ao_ground_pres; /* startup pressure */
-__data int16_t ao_ground_accel; /* startup acceleration */
-__data int16_t ao_min_pres; /* minimum recorded pressure */
-__data uint16_t ao_launch_time; /* time of launch detect */
-__data int16_t ao_main_pres; /* pressure to eject main */
+__pdata enum ao_flight_state ao_flight_state; /* current flight state */
+__pdata uint16_t ao_flight_tick; /* time of last data */
+__pdata uint16_t ao_flight_prev_tick; /* time of previous data */
+__pdata int16_t ao_flight_accel; /* filtered acceleration */
+__pdata int16_t ao_flight_pres; /* filtered pressure */
+__pdata int16_t ao_ground_pres; /* startup pressure */
+__pdata int16_t ao_ground_accel; /* startup acceleration */
+__pdata int16_t ao_min_pres; /* minimum recorded pressure */
+__pdata uint16_t ao_launch_tick; /* time of launch detect */
+__pdata int16_t ao_main_pres; /* pressure to eject main */
/*
* track min/max data over a long interval to detect
* resting
*/
-__data uint16_t ao_interval_end;
-__data int16_t ao_interval_cur_min_accel;
-__data int16_t ao_interval_cur_max_accel;
-__data int16_t ao_interval_cur_min_pres;
-__data int16_t ao_interval_cur_max_pres;
-__data int16_t ao_interval_min_accel;
-__data int16_t ao_interval_max_accel;
-__data int16_t ao_interval_min_pres;
-__data int16_t ao_interval_max_pres;
-
-#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
+__pdata uint16_t ao_interval_end;
+__pdata int16_t ao_interval_cur_min_accel;
+__pdata int16_t ao_interval_cur_max_accel;
+__pdata int16_t ao_interval_cur_min_pres;
+__pdata int16_t ao_interval_cur_max_pres;
+__pdata int16_t ao_interval_min_accel;
+__pdata int16_t ao_interval_max_accel;
+__pdata int16_t ao_interval_min_pres;
+__pdata int16_t ao_interval_max_pres;
+
+__data uint8_t ao_flight_adc;
+__pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres;
/* Accelerometer calibration
*
*
* 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g
*
- * Zero g was measured at 16000 (we would expect 16384)
+ * Zero g was measured at 16000 (we would expect 16384).
+ * Note that this value is only require to tell if the
+ * rocket is standing upright. Once that is determined,
+ * the value of the accelerometer is averaged for 100 samples
+ * to find the resting accelerometer value, which is used
+ * for all further flight computations
*/
+#define GRAVITY 9.80665
+/* convert m/s to velocity count */
+#define VEL_MPS_TO_COUNT(mps) ((int32_t) (((mps) / GRAVITY) * ACCEL_G * 100))
+
#define ACCEL_G 265
#define ACCEL_ZERO_G 16000
-#define ACCEL_NOSE_UP (ACCEL_ZERO_G - ACCEL_G * 2 /3)
-#define ACCEL_BOOST (ACCEL_NOSE_UP - ACCEL_G * 2)
+#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)
+#define ACCEL_VEL_MACH VEL_MPS_TO_COUNT(200)
+#define ACCEL_VEL_APOGEE VEL_MPS_TO_COUNT(2)
+#define ACCEL_VEL_MAIN VEL_MPS_TO_COUNT(100)
+#define ACCEL_VEL_BOOST VEL_MPS_TO_COUNT(5)
/*
* Barometer calibration
* Pressure range: 15-115 kPa
* Voltage at 115kPa: 2.82
* Output scale: 27mV/kPa
- *
+ *
* If we want to detect launch with the barometer, we need
* a large enough bump to not be fooled by noise. At typical
* launch elevations (0-2000m), a 200Pa pressure change cooresponds
*/
#define BARO_kPa 268
-#define BARO_LAUNCH (BARO_kPa / 5) /* .2kPa */
-#define BARO_APOGEE (BARO_kPa / 10) /* .1kPa */
-#define BARO_MAIN (BARO_kPa) /* 1kPa */
-#define BARO_LAND (BARO_kPa / 20) /* .05kPa */
+#define BARO_LAUNCH (BARO_kPa / 5) /* .2kPa, or about 20m */
+#define BARO_APOGEE (BARO_kPa / 10) /* .1kPa, or about 10m */
+#define BARO_COAST (BARO_kPa * 5) /* 5kpa, or about 500m */
+#define BARO_MAIN (BARO_kPa) /* 1kPa, or about 100m */
+#define BARO_INT_LAND (BARO_kPa / 20) /* .05kPa, or about 5m */
+#define BARO_LAND (BARO_kPa * 10) /* 10kPa or about 1000m */
/* We also have a clock, which can be used to sanity check things in
* case of other failures
*/
-#define BOOST_TICKS_MAX AO_SEC_TO_TICKS(10)
+#define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
+
+/* This value is scaled in a weird way. It's a running total of accelerometer
+ * readings minus the ground accelerometer reading. That means it measures
+ * velocity, and quite accurately too. As it gets updated 100 times a second,
+ * it's scaled by 100
+ */
+__pdata int32_t ao_flight_vel;
+__pdata int32_t ao_min_vel;
+__pdata int32_t ao_old_vel;
+__pdata int16_t ao_old_vel_tick;
+__xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum;
+
+/* Landing is detected by getting constant readings from both pressure and accelerometer
+ * for a fairly long time (AO_INTERVAL_TICKS)
+ */
+#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(20)
+
+#define abs(a) ((a) < 0 ? -(a) : (a))
void
ao_flight(void)
{
- __data static uint8_t nsamples = 0;
-
+ __pdata static uint16_t nsamples = 0;
+
+ ao_flight_adc = ao_adc_head;
+ ao_raw_accel_prev = 0;
+ ao_raw_accel = 0;
+ ao_raw_pres = 0;
+ ao_flight_tick = 0;
for (;;) {
ao_sleep(&ao_adc_ring);
- ao_adc_get(&ao_flight_data);
- ao_flight_accel -= ao_flight_accel >> 4;
- ao_flight_accel += ao_flight_data.accel >> 4;
- ao_flight_pres -= ao_flight_pres >> 4;
- ao_flight_pres += ao_flight_data.pres >> 4;
- ao_flight_tick = ao_time();
-
- ao_flight_tick = ao_time();
- 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;
+ while (ao_flight_adc != ao_adc_head) {
+ __pdata uint8_t ticks;
+ __pdata int16_t ao_vel_change;
+ ao_flight_prev_tick = ao_flight_tick;
+
+ /* Capture a sample */
+ ao_raw_accel = ao_adc_ring[ao_flight_adc].accel;
+ ao_raw_pres = ao_adc_ring[ao_flight_adc].pres;
+ ao_flight_tick = ao_adc_ring[ao_flight_adc].tick;
+
+ ao_flight_accel -= ao_flight_accel >> 4;
+ ao_flight_accel += ao_raw_accel >> 4;
+ ao_flight_pres -= ao_flight_pres >> 4;
+ ao_flight_pres += ao_raw_pres >> 4;
+ /* Update velocity
+ *
+ * The accelerometer is mounted so that
+ * acceleration yields negative values
+ * while deceleration yields positive values,
+ * so subtract instead of add.
+ */
+ ticks = ao_flight_tick - ao_flight_prev_tick;
+ ao_vel_change = (((ao_raw_accel >> 1) + (ao_raw_accel_prev >> 1)) - ao_ground_accel);
+ ao_raw_accel_prev = ao_raw_accel;
+
+ /* one is a common interval */
+ if (ticks == 1)
+ ao_flight_vel -= (int32_t) ao_vel_change;
+ else
+ ao_flight_vel -= (int32_t) ao_vel_change * (int32_t) ticks;
+
+ ao_flight_adc = ao_adc_ring_next(ao_flight_adc);
}
-
+
+ if (ao_flight_pres < ao_min_pres)
+ ao_min_pres = ao_flight_pres;
+ if (ao_flight_vel >= 0) {
+ if (ao_flight_vel < ao_min_vel)
+ ao_min_vel = ao_flight_vel;
+ } else {
+ if (-ao_flight_vel < ao_min_vel)
+ ao_min_vel = -ao_flight_vel;
+ }
+
switch (ao_flight_state) {
case ao_flight_startup:
- if (nsamples < 100) {
+
+ /* startup state:
+ *
+ * Collect 1000 samples of acceleration and pressure
+ * data and average them to find the resting values
+ */
+ if (nsamples < 1000) {
+ ao_raw_accel_sum += ao_raw_accel;
+ ao_raw_pres_sum += ao_raw_pres;
++nsamples;
continue;
}
- ao_ground_accel = ao_flight_accel;
- ao_ground_pres = ao_flight_pres;
- ao_min_pres = ao_flight_pres;
- ao_main_pres = ao_ground_pres - BARO_MAIN;
-
- ao_interval_end = ao_flight_tick;
-
- if (ao_flight_accel < ACCEL_NOSE_UP) {
+ ao_ground_accel = (ao_raw_accel_sum / nsamples);
+ ao_ground_pres = (ao_raw_pres_sum / nsamples);
+ ao_min_pres = ao_ground_pres;
+ 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_old_vel = ao_flight_vel;
+ ao_old_vel_tick = ao_flight_tick;
+
+ /* Go to launchpad state if the nose is pointing 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
+ */
+ ao_usb_disable();
+
+ /* Turn on telemetry system
+ */
+ ao_rdf_set(1);
+ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
+
ao_flight_state = ao_flight_launchpad;
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
} else {
ao_flight_state = ao_flight_idle;
- ao_report_notify();
+
+ /* Turn on the Green LED in idle mode
+ */
+ ao_led_on(AO_LED_GREEN);
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
/* signal successful initialization by turning off the LED */
ao_led_off(AO_LED_RED);
break;
case ao_flight_launchpad:
- if (ao_flight_accel < ACCEL_BOOST ||
- ao_flight_pres + BARO_LAUNCH < ao_ground_pres)
+
+ /* Trim velocity
+ *
+ * Once a second, remove any velocity from
+ * a second ago
+ */
+ if ((int16_t) (ao_flight_tick - ao_old_vel_tick) >= AO_SEC_TO_TICKS(1)) {
+ ao_old_vel_tick = ao_flight_tick;
+ ao_flight_vel -= ao_old_vel;
+ ao_old_vel = ao_flight_vel;
+ }
+ /* pad to boost:
+ *
+ * accelerometer: > 2g AND velocity > 5m/s
+ * OR
+ * barometer: > 20m vertical motion
+ *
+ * The accelerometer should always detect motion before
+ * the barometer, but we use both to make sure this
+ * transition is detected
+ */
+ if ((ao_flight_accel < ao_ground_accel - ACCEL_BOOST &&
+ ao_flight_vel > ACCEL_VEL_BOOST) ||
+ ao_flight_pres < ao_ground_pres - BARO_LAUNCH)
{
ao_flight_state = ao_flight_boost;
+ ao_launch_tick = ao_flight_tick;
+
+ /* start logging data */
ao_log_start();
- ao_report_notify();
+
+ /* Increase telemetry rate */
+ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
+
+ /* disable RDF beacon */
+ ao_rdf_set(0);
+
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
}
break;
case ao_flight_boost:
- if (ao_flight_accel > ACCEL_ZERO_G ||
- (int16_t) (ao_flight_data.tick - ao_launch_time) > BOOST_TICKS_MAX)
+
+ /* boost to coast:
+ *
+ * accelerometer: start to fall at > 1/4 G
+ * OR
+ * time: boost for more than 15 seconds
+ *
+ * Detects motor burn out by the switch from acceleration to
+ * deceleration, or by waiting until the maximum burn duration
+ * (15 seconds) has past.
+ */
+ if (ao_flight_accel > ao_ground_accel + (ACCEL_G >> 2) ||
+ (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
{
ao_flight_state = ao_flight_coast;
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
}
break;
case ao_flight_coast:
- if (ao_flight_pres < ao_min_pres)
- ao_min_pres = ao_flight_pres;
- if (ao_flight_pres - BARO_APOGEE > ao_min_pres) {
+
+ /* coast to apogee detect:
+ *
+ * accelerometer: integrated velocity < 200 m/s
+ * OR
+ * barometer: fall at least 500m from max altitude
+ *
+ * This extra state is required to avoid mis-detecting
+ * apogee due to mach transitions.
+ *
+ * XXX this is essentially a single-detector test
+ * as the 500m altitude change would likely result
+ * in a loss of the rocket. More data on precisely
+ * how big a pressure change the mach transition
+ * generates would be useful here.
+ */
+ if (ao_flight_vel < ACCEL_VEL_MACH ||
+ ao_flight_pres > ao_min_pres + BARO_COAST)
+ {
+ /* set min velocity to current velocity for
+ * apogee detect
+ */
+ ao_min_vel = abs(ao_flight_vel);
ao_flight_state = ao_flight_apogee;
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
case ao_flight_apogee:
-// ao_ignite(AO_IGNITE_DROGUE);
- ao_flight_state = ao_flight_drogue;
- ao_report_notify();
- break;
+
+ /* apogee detect to drogue deploy:
+ *
+ * accelerometer: abs(velocity) > min_velocity + 2m/s
+ * OR
+ * barometer: fall at least 10m
+ *
+ * If the barometer saturates because the flight
+ * goes over its measuring range (about 53k'),
+ * requiring a 10m fall will avoid prematurely
+ * detecting apogee; the accelerometer will take
+ * over in that case and the integrated velocity
+ * measurement should suffice to find apogee
+ */
+ if (/* abs(ao_flight_vel) > ao_min_vel + ACCEL_VEL_APOGEE || */
+ ao_flight_pres > ao_min_pres + BARO_APOGEE)
+ {
+ /* ignite the drogue charge */
+ ao_ignite(ao_igniter_drogue);
+
+ /* 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);
+
+ /*
+ * 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;
+
+ /* and enter drogue state */
+ ao_flight_state = ao_flight_drogue;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+
+ break;
case ao_flight_drogue:
- if (ao_flight_pres >= ao_main_pres) {
-// ao_ignite(AO_IGNITE_MAIN);
+
+ /* drogue to main deploy:
+ *
+ * barometer: reach main deploy altitude
+ *
+ * Would like to use the accelerometer for this test, but
+ * the orientation of the flight computer is unknown after
+ * drogue deploy, so we ignore it. Could also detect
+ * high descent rate using the pressure sensor to
+ * recognize drogue deploy failure and eject the main
+ * at that point. Perhaps also use the drogue sense lines
+ * to notice continutity?
+ */
+ if (ao_flight_pres >= ao_main_pres)
+ {
+ ao_ignite(ao_igniter_main);
ao_flight_state = ao_flight_main;
- ao_report_notify();
- }
- if ((ao_interval_max_pres - ao_interval_min_pres) < BARO_LAND) {
- ao_flight_state = ao_flight_landed;
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
- break;
+
+ /* fall through... */
case ao_flight_main:
- if ((ao_interval_max_pres - ao_interval_min_pres) < BARO_LAND) {
+
+ /* drogue/main to land:
+ *
+ * accelerometer: value stable
+ * AND
+ * 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 ((uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND &&
+ ao_flight_pres > ao_ground_pres - BARO_LAND &&
+ (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND)
+ {
ao_flight_state = ao_flight_landed;
- ao_report_notify();
+
+ /* turn off the ADC capture */
+ ao_timer_set_adc_interval(0);
+
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
case ao_flight_landed:
- ao_log_stop();
break;
}
}
}
+#define AO_ACCEL_COUNT_TO_MSS(count) ((count) / 27)
+#define AO_VEL_COUNT_TO_MS(count) ((int16_t) ((count) / 2700))
+
+static void
+ao_flight_status(void)
+{
+ 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_main_pres));
+}
+
static __xdata struct ao_task flight_task;
+__code struct ao_cmds ao_flight_cmds[] = {
+ { 'f', ao_flight_status, "f Display current flight state" },
+ { 0, ao_flight_status, NULL }
+};
+
void
ao_flight_init(void)
{
ao_interval_max_pres = 0x7fff;
ao_interval_end = AO_INTERVAL_TICKS;
- ao_add_task(&flight_task, ao_flight);
+ ao_add_task(&flight_task, ao_flight, "flight");
+ ao_cmd_register(&ao_flight_cmds[0]);
}
-
projects / fw / altos / blobdiff