uint16_t tick; /* tick when the sample was read */
int16_t accel; /* accelerometer */
int16_t pres; /* pressure sensor */
+ int16_t pres_real; /* unclipped */
int16_t temp; /* temperature sensor */
int16_t v_batt; /* battery voltage */
int16_t sense_d; /* drogue continuity sense */
#define __code
#define __reentrant
+#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define from_fix(x) ((x) >> 16)
+
+/*
+ * Above this height, the baro sensor doesn't work
+ */
+#define AO_MAX_BARO_HEIGHT 12000
+#define AO_BARO_SATURATE 13000
+#define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE)
+
+/*
+ * Above this speed, baro measurements are unreliable
+ */
+#define AO_MAX_BARO_SPEED 200
+
+#define ACCEL_NOSE_UP (ao_accel_2g >> 2)
+
enum ao_flight_state {
ao_flight_startup = 0,
ao_flight_idle = 1,
ao_flight_invalid = 9
};
+extern enum ao_flight_state ao_flight_state;
+
+#define FALSE 0
+#define TRUE 1
+
struct ao_adc ao_adc_ring[AO_ADC_RING];
uint8_t ao_adc_head;
int ao_summary = 0;
FILE *emulator_in;
char *emulator_app;
char *emulator_name;
-double emulator_error_max = 10;
+double emulator_error_max = 4;
void
ao_dump_state(void);
#define HAS_ACCEL_REF 0
#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_ground_accel, ao_flight_accel;
extern int16_t ao_accel_2g;
+extern uint16_t ao_sample_tick;
+
+extern int16_t ao_sample_height;
+extern int16_t ao_sample_accel;
+extern int32_t ao_accel_scale;
+extern int16_t ao_ground_height;
+extern int16_t ao_sample_alt;
+
+int ao_sample_prev_tick;
uint16_t prev_tick;
+
+#include "ao_kalman.c"
+#include "ao_sample.c"
+#include "ao_flight.c"
+
+#define to_double(f) ((f) / 65536.0)
+
static int ao_records_read = 0;
static int ao_eof_read = 0;
static int ao_flight_ground_accel;
static int ao_test_main_height;
static double ao_test_main_height_time;
+void
+ao_test_exit(void)
+{
+ double drogue_error;
+ double main_error;
+
+ if (!ao_test_main_height_time) {
+ ao_test_main_height_time = ao_test_max_height_time;
+ ao_test_main_height = ao_test_max_height;
+ }
+ drogue_error = fabs(ao_test_max_height_time - drogue_time);
+ main_error = fabs(ao_test_main_height_time - main_time);
+ if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
+ printf ("%s %s\n",
+ emulator_app, emulator_name);
+ printf ("\tApogee error %g\n", drogue_error);
+ printf ("\tMain error %g\n", main_error);
+ printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f\n",
+ ao_test_max_height, ao_test_max_height_time,
+ ao_test_main_height, ao_test_main_height_time);
+ printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f\n",
+ drogue_height, drogue_time, main_height, main_time);
+ exit (1);
+ }
+ exit(0);
+}
+
void
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) {
- double height = ao_pres_to_altitude(ao_raw_pres) - ao_ground_height;
+ double height = ao_pres_to_altitude(ao_adc_static.pres_real) - 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);
tick_offset += 65536;
prev_tick = ao_adc_static.tick;
time = (double) (ao_adc_static.tick + tick_offset) / 100;
+
+ if (ao_test_max_height < height) {
+ ao_test_max_height = height;
+ ao_test_max_height_time = time;
+ }
+ if (height > ao_config.main_deploy) {
+ ao_test_main_height_time = time;
+ ao_test_main_height = height;
+ }
+
if (!ao_summary) {
printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %d main %d error %d\n",
time,
drogue_height,
main_height,
ao_error_h_sq_avg);
- }
-
- if (ao_test_max_height < height) {
- ao_test_max_height = height;
- ao_test_max_height_time = time;
- }
- if (height > ao_config.main_deploy) {
- ao_test_main_height_time = time;
- ao_test_main_height = height;
+ if (ao_flight_state == ao_flight_landed)
+ ao_test_exit();
}
}
}
-void
-ao_test_exit(void)
-{
- double drogue_error;
- double main_error;
-
- if (!ao_test_main_height_time) {
- ao_test_main_height_time = ao_test_max_height_time;
- ao_test_main_height = ao_test_max_height;
- }
- drogue_error = fabs(ao_test_max_height_time - drogue_time);
- main_error = fabs(ao_test_main_height_time - main_time);
- if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
- printf ("%s %s\n",
- emulator_app, emulator_name);
- printf ("\tApogee error %g\n", drogue_error);
- printf ("\tMain error %g\n", main_error);
- printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f\n",
- ao_test_max_height, ao_test_max_height_time,
- ao_test_main_height, ao_test_main_height_time);
- printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f\n",
- drogue_height, drogue_time, main_height, main_time);
- exit (1);
- }
- exit(0);
-}
-
void
ao_sleep(void *wchan)
{
case 'A':
ao_adc_static.tick = tick;
ao_adc_static.accel = a;
+ ao_adc_static.pres_real = b;
+ if (b < AO_MIN_BARO_VALUE)
+ b = AO_MIN_BARO_VALUE;
ao_adc_static.pres = b;
ao_records_read++;
ao_insert();
projects / fw / altos / blobdiff