#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
+#define AO_M_TO_HEIGHT(m) ((int16_t) (m))
+#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
+#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
+
/*
* One set of samples read from the A/D converter
*/
#ifndef HAS_ACCEL
#define HAS_ACCEL 1
#define HAS_ACCEL_REF 0
-#define USE_KALMAN 0
-#else
-#define USE_KALMAN 1
#endif
#include "ao_flight.c"
#define to_double(f) ((f) / 65536.0)
+#define GRAVITY 9.80665
+extern int16_t ao_ground_accel, ao_raw_accel;
+extern int16_t ao_accel_2g;
+
+int32_t drogue_height;
+int32_t main_height;
+
+int tick_offset;
+uint16_t prev_tick;
+static int ao_records_read = 0;
+static int ao_eof_read = 0;
+static int ao_flight_ground_accel;
+static int ao_flight_started = 0;
+
void
ao_insert(void)
{
ao_adc_head = ao_adc_ring_next(ao_adc_head);
if (ao_summary)
return;
- if (ao_flight_state != ao_flight_startup) {
-#if USE_KALMAN
- printf("time %7.2f accel %d pres %d k_height %8.2f k_speed %8.5f k_accel %8.5f\n",
- (double) ao_adc_static.tick / 100,
- ao_adc_static.accel,
- ao_adc_static.pres,
- to_double(ao_k_height),
- to_double(ao_k_speed),
- to_double(ao_k_accel));
-#else
- printf("time %g accel %d pres %d\n",
- (double) ao_adc_static.tick / 100,
- ao_adc_static.accel,
- ao_adc_static.pres);
-#endif
+ if (ao_flight_state == ao_flight_startup)
+ return;
+ {
+ double height = ao_pres_to_altitude(ao_raw_pres) - ao_ground_height;
+ double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
+ (ao_config.accel_minus_g - ao_config.accel_plus_g);
+
+ if (!tick_offset)
+ tick_offset = ao_adc_static.tick;
+ if (!drogue_height && ao_flight_state >= ao_flight_drogue)
+ drogue_height = ao_k_height;
+ if (!main_height && ao_flight_state >= ao_flight_main)
+ main_height = ao_k_height;
+ if ((prev_tick - ao_adc_static.tick) > 0)
+ tick_offset += 65536;
+ prev_tick = ao_adc_static.tick;
+ printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %g main %g error %d\n",
+ (double) (ao_adc_static.tick + tick_offset) / 100,
+ height,
+ accel,
+ ao_state_names[ao_flight_state],
+ ao_k_height / 65536.0,
+ ao_k_speed / 65536.0 / 16.0,
+ ao_k_accel / 65536.0 / 16.0,
+ drogue_height / 65536.0,
+ main_height / 65536.0,
+ ao_error_h_sq_avg);
}
}
-static int ao_records_read = 0;
-static int ao_eof_read = 0;
-static int ao_flight_ground_accel;
-static int ao_flight_started = 0;
-
void
ao_sleep(void *wchan)
{
- ao_dump_state();
if (wchan == &ao_adc_head) {
char type;
uint16_t tick;
return;
if (ao_summary)
return;
-#if HAS_ACCEL
- printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
- ao_state_names[ao_flight_state],
- (ao_ground_accel - ao_flight_accel) / COUNTS_PER_G * GRAVITY,
- (double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
- ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
- ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
-#else
- printf ("\t\t\t\t\t%s alt %d main %d\n",
- ao_state_names[ao_flight_state],
- ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
- ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
-#endif
if (ao_flight_state == ao_flight_landed)
exit(0);
}