Update flight algorithm based on data collected from SN-1 Flight 1

[fw/altos] / ao_flight_test.c

diff --git a/ao_flight_test.c b/ao_flight_test.c
index a88d2b14ddb9d83e8c8c7eefdbcc2523f7b4519d..78469c798d6a61b63afe46201e4c8fc7ff72e1e5 100644 (file)
--- a/ao_flight_test.c
+++ b/ao_flight_test.c
@@ -95,7 +95,7 @@ ao_dump_state(void);
 
 void
 ao_sleep(void *wchan);
 
 void
 ao_sleep(void *wchan);

-       
+

 #include "ao_flight.c"
 
 void
 #include "ao_flight.c"
 
 void


@@ -104,8 +104,8 @@ ao_insert(void)
        ao_adc_ring[ao_adc_head] = ao_adc_static;
        ao_adc_head = ao_adc_ring_next(ao_adc_head);
        if (ao_flight_state != ao_flight_startup) {
        ao_adc_ring[ao_adc_head] = ao_adc_static;
        ao_adc_head = ao_adc_ring_next(ao_adc_head);
        if (ao_flight_state != ao_flight_startup) {

-               printf("tick %04x accel %04x pres %04x\n", 
-                      ao_adc_static.tick,
+               printf("time %g accel %d pres %d\n",
+                      (double) ao_adc_static.tick / 100,

                       ao_adc_static.accel,
                       ao_adc_static.pres);
        }
                       ao_adc_static.accel,
                       ao_adc_static.pres);
        }


@@ -132,7 +132,8 @@ ao_sleep(void *wchan)
 
                        ret = fscanf(emulator_in, "%c %hx %hx %hx\n", &type, &tick, &a, &b);
                        if (ret == EOF) {
 
                        ret = fscanf(emulator_in, "%c %hx %hx %hx\n", &type, &tick, &a, &b);
                        if (ret == EOF) {

-                               ao_insert();
+                               printf ("no more data, exiting simulation\n");
+                               exit(0);

                                return;
                        }
                        if (ret != 4)
                                return;
                        }
                        if (ret != 4)


@@ -162,7 +163,7 @@ ao_sleep(void *wchan)
                                break;
                        }
                }
                                break;
                        }
                }

-               
+

        }
 }
 
        }
 }
 


@@ -175,7 +176,6 @@ static int16_t altitude[2048] = {
 #include "altitude.h"
 };
 
 #include "altitude.h"
 };
 

-#define GRAVITY 9.80665

 #define COUNTS_PER_G 264.8
 
 void
 #define COUNTS_PER_G 264.8
 
 void


@@ -186,7 +186,7 @@ ao_dump_state(void)
        printf ("\t%s accel %g vel %g alt %d\n",
                ao_state_names[ao_flight_state],
                (ao_flight_accel - ao_ground_accel) / COUNTS_PER_G * GRAVITY,
        printf ("\t%s accel %g vel %g alt %d\n",
                ao_state_names[ao_flight_state],
                (ao_flight_accel - ao_ground_accel) / COUNTS_PER_G * GRAVITY,

-               (double) ao_flight_vel,
+               (double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,

                altitude[ao_flight_pres >> 4]);
        if (ao_flight_state == ao_flight_landed)
                exit(0);
                altitude[ao_flight_pres >> 4]);
        if (ao_flight_state == ao_flight_landed)
                exit(0);