altos: mma655x also needs ao_sensor_errors

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

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index fc018f009cdf62a0d018e5d3a00d3efc3f9ea754..aac6880db1260d6dea90a4ce47cd5319e6e1d0f4 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
@@ -40,8 +44,11 @@
 
 __pdata enum ao_flight_state   ao_flight_state;        /* current flight state */
 __pdata uint16_t               ao_boost_tick;          /* time of launch detect */
-#if AO_PYRO_NUM
 __pdata uint16_t               ao_motor_number;        /* number of motors burned so far */
+
+#if HAS_SENSOR_ERRORS
+/* Any sensor can set this to mark the flight computer as 'broken' */
+__xdata uint8_t                        ao_sensor_errors;
 #endif
 
 /*
@@ -96,7 +103,9 @@ ao_flight(void)
                        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
@@ -117,14 +126,14 @@ ao_flight(void)
                        {
                                /* Set pad mode - we can fly! */
                                ao_flight_state = ao_flight_pad;
-#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG
+#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
                                /* Disable the USB controller in flight mode
                                 * to save power
                                 */
                                ao_usb_disable();
 #endif
 
-#if !HAS_ACCEL
+#if !HAS_ACCEL && PACKET_HAS_SLAVE
                                /* Disable packet mode in pad state on TeleMini */
                                ao_packet_slave_stop();
 #endif
@@ -134,19 +143,27 @@ ao_flight(void)
                                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;
+                               ao_flight_state = ao_flight_idle;
+#if HAS_SENSOR_ERRORS
+                               if (ao_sensor_errors)
+                                       ao_flight_state = ao_flight_invalid;
+#endif
  
 #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));
@@ -190,8 +207,8 @@ 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));
@@ -218,9 +235,7 @@ ao_flight(void)
 #else
                                ao_flight_state = ao_flight_coast;
 #endif
-#if AO_PYRO_NUM
                                ++ao_motor_number;
-#endif
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        break;
@@ -358,6 +373,18 @@ 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;
                }
@@ -408,8 +435,17 @@ 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