#ifndef AO_FLIGHT_TEST
#include "ao.h"
+#include <ao_log.h>
#endif
#ifndef HAS_ACCEL
#error Please define HAS_USB
#endif
+#ifndef HAS_TELEMETRY
+#define HAS_TELEMETRY HAS_RADIO
+#endif
+
/* Main flight thread. */
__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 */
/*
* track min/max data over a long interval to detect
* resting
*/
-__pdata uint16_t ao_interval_end;
-__pdata int16_t ao_interval_min_height;
-__pdata int16_t ao_interval_max_height;
+static __data uint16_t ao_interval_end;
+static __data int16_t ao_interval_min_height;
+static __data int16_t ao_interval_max_height;
+#if HAS_ACCEL
+static __data int16_t ao_coast_avg_accel;
+#endif
+
__pdata uint8_t ao_flight_force_idle;
/* We also have a clock, which can be used to sanity check things in
if (ao_config.accel_plus_g == 0 ||
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)
+ ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
+ ao_ground_height < -1000 ||
+ ao_ground_height > 7000)
{
/* Detected an accel value outside -1.5g to 1.5g
* (or uncalibrated values), so we go into invalid mode
*/
ao_flight_state = ao_flight_invalid;
+#if HAS_RADIO && PACKET_HAS_SLAVE
+ /* Turn on packet system in invalid mode on TeleMetrum */
+ ao_packet_slave_start();
+#endif
} else
#endif
if (!ao_flight_force_idle
{
/* Set pad mode - we can fly! */
ao_flight_state = ao_flight_pad;
-#if HAS_USB
+#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
/* Disable the USB controller in flight mode
* to save power
*/
ao_usb_disable();
#endif
- /* Disable packet mode in pad state */
+#if !HAS_ACCEL && PACKET_HAS_SLAVE
+ /* Disable packet mode in pad state on TeleMini */
ao_packet_slave_stop();
+#endif
+#if HAS_TELEMETRY
/* Turn on telemetry system */
ao_rdf_set(1);
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
-
+#endif
+#if HAS_LED
/* signal successful initialization by turning off the LED */
ao_led_off(AO_LED_RED);
+#endif
} else {
/* Set idle mode */
ao_flight_state = ao_flight_idle;
+#if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
+ /* Turn on packet system in idle mode on TeleMetrum */
+ ao_packet_slave_start();
+#endif
+
+#if HAS_LED
/* signal successful initialization by turning off the LED */
ao_led_off(AO_LED_RED);
+#endif
}
/* wakeup threads due to state change */
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
/* start logging data */
ao_log_start();
+#if HAS_TELEMETRY
/* Increase telemetry rate */
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
/* disable RDF beacon */
ao_rdf_set(0);
+#endif
#if HAS_GPS
/* Record current GPS position by waking up GPS log tasks */
{
#if HAS_ACCEL
ao_flight_state = ao_flight_fast;
+ ao_coast_avg_accel = ao_accel;
#else
ao_flight_state = ao_flight_coast;
#endif
+ ++ao_motor_number;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
#endif
case ao_flight_coast:
+ /*
+ * By customer request - allow the user
+ * to lock out apogee detection for a specified
+ * number of seconds.
+ */
+ if (ao_config.apogee_lockout) {
+ if ((ao_sample_tick - ao_boost_tick) <
+ AO_SEC_TO_TICKS(ao_config.apogee_lockout))
+ break;
+ }
+
/* apogee detect: coast to drogue deploy:
*
* speed: < 0
#endif
)
{
+#if HAS_IGNITE
/* ignite the drogue charge */
ao_ignite(ao_igniter_drogue);
+#endif
+#if HAS_TELEMETRY
/* slow down the telemetry system */
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
/* Turn the RDF beacon back on */
ao_rdf_set(1);
+#endif
/* and enter drogue state */
ao_flight_state = ao_flight_drogue;
#if HAS_ACCEL
else {
check_re_boost:
- if (ao_accel > AO_MSS_TO_ACCEL(20)) {
+ ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
+ if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
ao_boost_tick = ao_sample_tick;
ao_flight_state = ao_flight_boost;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
*/
if (ao_height <= ao_config.main_deploy)
{
+#if HAS_IGNITE
ao_ignite(ao_igniter_main);
+#endif
/*
* Start recording min/max height
ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
}
break;
- case ao_flight_landed:
+ default:
break;
}
}
}
+#if HAS_FLIGHT_DEBUG
+static inline int int_part(int16_t i) { return i >> 4; }
+static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; }
+
+static void
+ao_flight_dump(void)
+{
+#if HAS_ACCEL
+ int16_t accel;
+
+ accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16;
+#endif
+
+ printf ("sample:\n");
+ printf (" tick %d\n", ao_sample_tick);
+ printf (" raw pres %d\n", ao_sample_pres);
+#if HAS_ACCEL
+ printf (" raw accel %d\n", ao_sample_accel);
+#endif
+ printf (" ground pres %d\n", ao_ground_pres);
+ printf (" ground alt %d\n", ao_ground_height);
+#if HAS_ACCEL
+ printf (" raw accel %d\n", ao_sample_accel);
+ printf (" groundaccel %d\n", ao_ground_accel);
+ printf (" accel_2g %d\n", ao_accel_2g);
+#endif
+
+ printf (" alt %d\n", ao_sample_alt);
+ printf (" height %d\n", ao_sample_height);
+#if HAS_ACCEL
+ printf (" accel %d.%02d\n", int_part(accel), frac_part(accel));
+#endif
+
+
+ printf ("kalman:\n");
+ printf (" height %d\n", ao_height);
+ printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
+ printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
+ printf (" max_height %d\n", ao_max_height);
+ printf (" avg_height %d\n", ao_avg_height);
+ printf (" error_h %d\n", ao_error_h);
+ printf (" error_avg %d\n", ao_error_h_sq_avg);
+}
+
+__code struct ao_cmds ao_flight_cmds[] = {
+ { ao_flight_dump, "F\0Dump flight status" },
+ { 0, NULL },
+};
+#endif
+
static __xdata struct ao_task flight_task;
void
ao_flight_init(void)
{
ao_flight_state = ao_flight_startup;
+#if HAS_FLIGHT_DEBUG
+ ao_cmd_register(&ao_flight_cmds[0]);
+#endif
ao_add_task(&flight_task, ao_flight, "flight");
}
projects / fw / altos / blobdiff