*
* 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;
-__data enum flight_state ao_flight_state;
-__data uint16_t ao_flight_state_tick;
-__data int16_t ao_flight_accel;
-__data int16_t ao_flight_pres;
-__data int16_t ao_ground_pres;
-__data int16_t ao_ground_accel;
-__data int16_t ao_min_pres;
-__data uint16_t ao_launch_time;
+__pdata enum ao_flight_state ao_flight_state; /* current flight state */
+__pdata uint16_t ao_flight_tick; /* time of last 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_time; /* 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
+ */
+__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;
+__xdata int16_t ao_accel, ao_prev_accel, ao_pres;
+
+#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
/* Accelerometer calibration
*
#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_LAND (ACCEL_G / 10)
/*
* Barometer calibration
#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 */
/* 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
+ */
+__data int32_t ao_flight_vel;
+
+/* convert m/s to velocity count */
+#define VEL_MPS_TO_COUNT(mps) ((int32_t) ((int32_t) (mps) * (int32_t) 100 / (int32_t) ACCEL_G))
void
ao_flight(void)
{
- __data static uint8_t nsamples = 0;
+ __pdata static uint8_t nsamples = 0;
+ ao_flight_adc = ao_adc_head;
+ ao_prev_accel = 0;
+ ao_accel = 0;
+ ao_pres = 0;
for (;;) {
ao_sleep(&ao_adc_ring);
- ao_adc_get(&ao_flight_data);
+ while (ao_flight_adc != ao_adc_head) {
+ ao_accel = ao_adc_ring[ao_flight_adc].accel;
+ ao_pres = ao_adc_ring[ao_flight_adc].pres;
+ ao_flight_tick = ao_adc_ring[ao_flight_adc].tick;
+ ao_flight_vel += (int32_t) (((ao_accel + ao_prev_accel) >> 4) - (ao_ground_accel << 1));
+ ao_prev_accel = ao_accel;
+ ao_flight_adc = ao_adc_ring_next(ao_flight_adc);
+ }
ao_flight_accel -= ao_flight_accel >> 4;
- ao_flight_accel += ao_flight_data.accel >> 4;
+ ao_flight_accel += ao_accel >> 4;
ao_flight_pres -= ao_flight_pres >> 4;
- ao_flight_pres += ao_flight_data.pres >> 4;
+ ao_flight_pres += ao_pres >> 4;
+ if (ao_flight_pres < ao_min_pres)
+ ao_min_pres = ao_flight_pres;
+
+ 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;
+ }
+
switch (ao_flight_state) {
case ao_flight_startup:
if (nsamples < 100) {
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_flight_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_flight_state = ao_flight_launchpad;
- ao_flight_state_tick = ao_time();
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
} else {
ao_flight_state = ao_flight_idle;
- ao_flight_state_tick = ao_time();
- ao_report_notify();
+
+ /* Turn on the Green LED in idle mode
+ * This also happens to bring the USB up for the TI board
+ */
+ 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 */
+ ao_led_off(AO_LED_RED);
break;
case ao_flight_launchpad:
+
+ /* pad to boost:
+ *
+ * accelerometer: > 2g
+ * barometer: > 20m vertical motion
+ */
if (ao_flight_accel < ACCEL_BOOST ||
ao_flight_pres + BARO_LAUNCH < ao_ground_pres)
{
ao_flight_state = ao_flight_boost;
- ao_flight_state_tick = ao_time();
ao_log_start();
- ao_report_notify();
+ 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
+ * time: boost for more than 15 seconds
+ */
+ if (ao_flight_accel > ao_ground_accel + (ACCEL_G >> 2) ||
+ (int16_t) (ao_flight_tick - ao_launch_time) > BOOST_TICKS_MAX)
{
ao_flight_state = ao_flight_coast;
- ao_flight_state_tick = ao_time();
- 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
+ * barometer: fall at least 500m from max altitude
+ */
+ if (ao_flight_vel < VEL_MPS_TO_COUNT(200) ||
+ ao_flight_pres - (5 * BARO_kPa) > ao_min_pres)
+ {
ao_flight_state = ao_flight_apogee;
- ao_flight_state_tick = ao_time();
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
case ao_flight_apogee:
+
+ /* apogee to drogue deploy:
+ *
+ * accelerometer: integrated velocity < 10m/s
+ * barometer: fall at least 10m
+ */
+ if (ao_flight_vel < VEL_MPS_TO_COUNT(-10) ||
+ ao_flight_pres - BARO_APOGEE > ao_min_pres)
+ {
+ ao_ignite(ao_igniter_drogue);
+ ao_flight_state = ao_flight_drogue;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ break;
+ case ao_flight_drogue:
+
+ /* drogue to main deploy:
+ *
+ * accelerometer: abs(velocity) > 50m/s
+ * barometer: reach main deploy altitude
+ */
+ if (ao_flight_vel < VEL_MPS_TO_COUNT(-50) ||
+ ao_flight_vel > VEL_MPS_TO_COUNT(50) ||
+ ao_flight_pres >= ao_main_pres)
+ {
+ ao_ignite(ao_igniter_main);
+ ao_flight_state = ao_flight_main;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ /* fall through... */
+ case ao_flight_main:
+
+ /* drogue/main to land:
+ *
+ * accelerometer: value stable
+ * barometer: altitude stable
+ */
+ if ((ao_interval_max_accel - ao_interval_min_accel) < ACCEL_LAND ||
+ (ao_interval_max_pres - ao_interval_min_pres) < BARO_LAND)
+ {
+ ao_flight_state = ao_flight_landed;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ break;
+ case ao_flight_landed:
+ ao_log_stop();
break;
}
}
ao_flight_init(void)
{
ao_flight_state = ao_flight_startup;
+ ao_interval_min_accel = 0;
+ ao_interval_max_accel = 0x7fff;
+ ao_interval_min_pres = 0;
+ 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");
}
projects / fw / altos / blobdiff