altos: Try IMU self-test 10 times before giving up

[fw/altos] / src / core / ao_flight.c

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 88dc816d25578858aa2c3e8c672cb414b0eb418e..463ff4a2974b38e045fb2214ca9bc163cd490d28 100644 (file)
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -20,6 +20,10 @@
 #include <ao_log.h>
 #endif
 
+#if HAS_MPU6000
+#include <ao_quaternion.h>
+#endif
+
 #ifndef HAS_ACCEL
 #error Please define HAS_ACCEL
 #endif
@@ -42,6 +46,11 @@ __pdata enum ao_flight_state ao_flight_state;        /* current flight state */
 __pdata uint16_t               ao_boost_tick;          /* time of launch detect */
 __pdata uint16_t               ao_motor_number;        /* number of motors burned so far */
 
+#if HAS_IMU
+/* Any sensor can set this to mark the flight computer as 'broken' */
+__xdata uint8_t                        ao_sensor_errors;
+#endif
+
 /*
  * track min/max data over a long interval to detect
  * resting
@@ -95,6 +104,9 @@ ao_flight(void)
                            ao_config.accel_minus_g == 0 ||
                            ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
                            ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
+#if HAS_IMU
+                           ao_sensor_errors ||
+#endif
                            ao_ground_height < -1000 ||
                            ao_ground_height > 7000)
                        {
@@ -194,8 +206,8 @@ ao_flight(void)
 
 #if HAS_GPS
                                /* Record current GPS position by waking up GPS log tasks */
-                               ao_wakeup(&ao_gps_data);
-                               ao_wakeup(&ao_gps_tracking_data);
+                               ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
+                               ao_wakeup(&ao_gps_new);
 #endif
 
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
@@ -360,6 +372,18 @@ ao_flight(void)
                                ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
                        }
                        break;
+#if HAS_FLIGHT_DEBUG
+               case ao_flight_test:
+#if HAS_GYRO
+                       printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
+                               ao_sample_orient,
+                               ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
+                               ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
+                               ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
+#endif
+                       flush();
+                       break;
+#endif /* HAS_FLIGHT_DEBUG */
                default:
                        break;
                }
@@ -410,8 +434,17 @@ ao_flight_dump(void)
        printf ("  error_avg   %d\n", ao_error_h_sq_avg);
 }
 
+static void
+ao_gyro_test(void)
+{
+       ao_flight_state = ao_flight_test;
+       ao_getchar();
+       ao_flight_state = ao_flight_idle;
+}
+
 __code struct ao_cmds ao_flight_cmds[] = {
        { ao_flight_dump,       "F\0Dump flight status" },
+       { ao_gyro_test,         "G\0Test gyro code" },
        { 0, NULL },
 };
 #endif