#if HAS_ACCEL
__pdata accel_t ao_sample_accel;
#endif
+#if HAS_GYRO
+__pdata accel_t ao_sample_accel_along;
+__pdata accel_t ao_sample_accel_across;
+__pdata accel_t ao_sample_accel_through;
+__pdata gyro_t ao_sample_roll;
+__pdata gyro_t ao_sample_pitch;
+__pdata gyro_t ao_sample_yaw;
+__pdata angle_t ao_sample_angle;
+__pdata angle_t ao_sample_roll_angle;
+#endif
__data uint8_t ao_sample_data;
__pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
#endif
+#if HAS_GYRO
+__pdata accel_t ao_ground_accel_along;
+__pdata accel_t ao_ground_accel_across;
+__pdata accel_t ao_ground_accel_through;
+__pdata gyro_t ao_ground_pitch;
+__pdata gyro_t ao_ground_yaw;
+__pdata gyro_t ao_ground_roll;
+#endif
+
static __pdata uint8_t ao_preflight; /* in preflight mode */
static __pdata uint16_t nsamples;
#if HAS_ACCEL
__pdata int32_t ao_sample_accel_sum;
#endif
+#if HAS_GYRO
+__pdata int32_t ao_sample_accel_along_sum;
+__pdata int32_t ao_sample_accel_across_sum;
+__pdata int32_t ao_sample_accel_through_sum;
+__pdata int32_t ao_sample_pitch_sum;
+__pdata int32_t ao_sample_yaw_sum;
+__pdata int32_t ao_sample_roll_sum;
+#endif
+
+static void
+ao_sample_preflight_add(void)
+{
+#if HAS_ACCEL
+ ao_sample_accel_sum += ao_sample_accel;
+#endif
+ ao_sample_pres_sum += ao_sample_pres;
+#if HAS_GYRO
+ ao_sample_accel_along_sum += ao_sample_accel_along;
+ ao_sample_accel_across_sum += ao_sample_accel_across;
+ ao_sample_accel_through_sum += ao_sample_accel_through;
+ ao_sample_pitch_sum += ao_sample_pitch;
+ ao_sample_yaw_sum += ao_sample_yaw;
+ ao_sample_roll_sum += ao_sample_roll;
+#endif
+ ++nsamples;
+}
+
+static void
+ao_sample_preflight_set(void)
+{
+#if HAS_ACCEL
+ ao_ground_accel = ao_sample_accel_sum >> 9;
+ ao_sample_accel_sum = 0;
+#endif
+ ao_ground_pres = ao_sample_pres_sum >> 9;
+ ao_ground_height = pres_to_altitude(ao_ground_pres);
+ ao_sample_pres_sum = 0;
+#if HAS_GYRO
+ ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
+ ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
+ ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
+ ao_ground_pitch = ao_sample_pitch_sum >> 9;
+ ao_ground_yaw = ao_sample_yaw_sum >> 9;
+ ao_ground_roll = ao_sample_roll_sum >> 9;
+ ao_sample_accel_along_sum = 0;
+ ao_sample_accel_across_sum = 0;
+ ao_sample_accel_through_sum = 0;
+ ao_sample_pitch_sum = 0;
+ ao_sample_yaw_sum = 0;
+ ao_sample_roll_sum = 0;
+ ao_sample_angle = 0;
+#endif
+ nsamples = 0;
+}
static void
ao_sample_preflight(void)
* data and average them to find the resting values
*/
if (nsamples < 512) {
-#if HAS_ACCEL
- ao_sample_accel_sum += ao_sample_accel;
-#endif
- ao_sample_pres_sum += ao_sample_pres;
- ++nsamples;
+ ao_sample_preflight_add();
} else {
- ao_config_get();
#if HAS_ACCEL
- ao_ground_accel = ao_sample_accel_sum >> 9;
ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
#endif
- ao_ground_pres = ao_sample_pres_sum >> 9;
- ao_ground_height = pres_to_altitude(ao_ground_pres);
+ ao_sample_preflight_set();
ao_preflight = FALSE;
}
}
+/*
+ * While in pad mode, constantly update the ground state by
+ * re-averaging the data. This tracks changes in orientation, which
+ * might be caused by adjustments to the rocket on the pad and
+ * pressure, which might be caused by changes in the weather.
+ */
+
+static void
+ao_sample_preflight_update(void)
+{
+ if (nsamples < 512)
+ ao_sample_preflight_add();
+ else if (nsamples < 1024)
+ ++nsamples;
+ else
+ ao_sample_preflight_set();
+}
+
+#if 0
+#if HAS_GYRO
+static int32_t p_filt;
+static int32_t y_filt;
+
+static gyro_t inline ao_gyro(void) {
+ gyro_t p = ao_sample_pitch - ao_ground_pitch;
+ gyro_t y = ao_sample_yaw - ao_ground_yaw;
+
+ p_filt = p_filt - (p_filt >> 6) + p;
+ y_filt = y_filt - (y_filt >> 6) + y;
+
+ p = p_filt >> 6;
+ y = y_filt >> 6;
+ return ao_sqrt(p*p + y*y);
+}
+#endif
+#endif
uint8_t
ao_sample(void)
{
- ao_config_get();
ao_wakeup(DATA_TO_XDATA(&ao_sample_data));
ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
while (ao_sample_data != ao_data_head) {
ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data];
ao_sample_tick = ao_data->tick;
+#if HAS_BARO
ao_data_pres_cook(ao_data);
ao_sample_pres = ao_data_pres(ao_data);
ao_sample_alt = pres_to_altitude(ao_sample_pres);
ao_sample_height = ao_sample_alt - ao_ground_height;
+#endif
#if HAS_ACCEL
ao_sample_accel = ao_data_accel_cook(ao_data);
ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
ao_data_set_accel(ao_data, ao_sample_accel);
#endif
+#if HAS_GYRO
+ ao_sample_accel_along = ao_data_along(ao_data);
+ ao_sample_accel_across = ao_data_across(ao_data);
+ ao_sample_accel_through = ao_data_through(ao_data);
+ ao_sample_pitch = ao_data_pitch(ao_data);
+ ao_sample_yaw = ao_data_yaw(ao_data);
+ ao_sample_roll = ao_data_roll(ao_data);
+#endif
if (ao_preflight)
ao_sample_preflight();
- else
+ else {
+ if (ao_flight_state < ao_flight_boost)
+ ao_sample_preflight_update();
ao_kalman();
+#if HAS_GYRO
+ /* do quaternion stuff here... */
+#endif
+ }
ao_sample_data = ao_data_ring_next(ao_sample_data);
}
return !ao_preflight;
void
ao_sample_init(void)
{
+ ao_config_get();
nsamples = 0;
ao_sample_pres_sum = 0;
ao_sample_pres = 0;
#if HAS_ACCEL
ao_sample_accel_sum = 0;
ao_sample_accel = 0;
+#endif
+#if HAS_GYRO
+ ao_sample_accel_along_sum = 0;
+ ao_sample_accel_across_sum = 0;
+ ao_sample_accel_through_sum = 0;
+ ao_sample_accel_along = 0;
+ ao_sample_accel_across = 0;
+ ao_sample_accel_through = 0;
+ ao_sample_pitch_sum = 0;
+ ao_sample_yaw_sum = 0;
+ ao_sample_roll_sum = 0;
+ ao_sample_pitch = 0;
+ ao_sample_yaw = 0;
+ ao_sample_roll = 0;
+ ao_sample_angle = 0;
#endif
ao_sample_data = ao_data_head;
ao_preflight = TRUE;
projects / fw / altos / blobdiff