#include <stdlib.h>
#include <string.h>
#include <getopt.h>
+#include <math.h>
#define AO_HERTZ 100
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;
struct ao_adc ao_adc_static;
+int drogue_height;
+double drogue_time;
+int main_height;
+double main_time;
+
+int tick_offset;
+
+static int32_t ao_k_height;
+
void
ao_ignite(enum ao_igniter igniter)
{
- printf ("ignite %s at %7.2f\n", igniter == ao_igniter_drogue ? "drogue" : "main",
- (double) ao_adc_static.tick / 100.0);
+ double time = (double) (ao_adc_static.tick + tick_offset) / 100;
+
+ if (igniter == ao_igniter_drogue) {
+ drogue_time = time;
+ drogue_height = ao_k_height >> 16;
+ } else {
+ main_time = time;
+ main_height = ao_k_height >> 16;
+ }
}
struct ao_task {
#define AO_FLIGHT_TEST
+int ao_flight_debug;
+
FILE *emulator_in;
+char *emulator_app;
+char *emulator_name;
+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;
-int32_t drogue_height;
-int32_t main_height;
+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 tick_offset;
+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_flight_started = 0;
+static int ao_test_max_height;
+static double ao_test_max_height_time;
+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)
{
+ double time;
+
ao_adc_ring[ao_adc_head] = ao_adc_static;
ao_adc_head = ao_adc_ring_next(ao_adc_head);
- if (ao_summary)
- return;
- if (ao_flight_state == ao_flight_startup)
- return;
- {
- double height = ao_pres_to_altitude(ao_raw_pres) - ao_ground_height;
+ if (ao_flight_state != ao_flight_startup) {
+ 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);
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 = -ao_adc_static.tick;
+ if ((prev_tick - ao_adc_static.tick) > 0x400)
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);
+ 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,
+ 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,
+ main_height,
+ ao_error_h_sq_avg);
+ if (ao_flight_state == ao_flight_landed)
+ ao_test_exit();
+ }
}
}
if (!fgets(line, sizeof (line), emulator_in)) {
if (++ao_eof_read >= 1000) {
- printf ("no more data, exiting simulation\n");
- exit(0);
+ if (!ao_summary)
+ printf ("no more data, exiting simulation\n");
+ ao_test_exit();
}
ao_adc_static.tick += 10;
ao_insert();
tick = strtoul(words[1], NULL, 16);
a = strtoul(words[2], NULL, 16);
b = strtoul(words[3], NULL, 16);
- } else if (nword >= 6 && strcmp(words[0], "Accel")) {
+ } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
ao_config.accel_plus_g = atoi(words[3]);
ao_config.accel_minus_g = atoi(words[5]);
- } else if (nword >= 4 && strcmp(words[0], "Main")) {
+ } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
ao_config.main_deploy = atoi(words[2]);
} else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
tick = atoi(words[10]);
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();
void
ao_dump_state(void)
{
- if (ao_flight_state == ao_flight_startup)
- return;
- if (ao_summary)
- return;
- if (ao_flight_state == ao_flight_landed)
- exit(0);
}
static const struct option options[] = {
{ .name = "summary", .has_arg = 0, .val = 's' },
+ { .name = "debug", .has_arg = 0, .val = 'd' },
{ 0, 0, 0, 0},
};
void run_flight_fixed(char *name, FILE *f, int summary)
{
+ emulator_name = name;
emulator_in = f;
ao_summary = summary;
ao_flight_init();
int c;
int i;
- while ((c = getopt_long(argc, argv, "s", options, NULL)) != -1) {
+#if HAS_ACCEL
+ emulator_app="full";
+#else
+ emulator_app="baro";
+#endif
+ while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
switch (c) {
case 's':
summary = 1;
break;
+ case 'd':
+ ao_flight_debug = 1;
+ break;
}
}
projects / fw / altos / blobdiff