altos: Allow accel-only flight code

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

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 5a5d5b72b0adfb887f238d6512c5b91b68b8a016..afee1de710935b00c6a75e3b3f2498beb23be6a8 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -21,6 +21,8 @@
 #include <ao_log.h>
 #endif
 
+#include <ao_flight.h>
+
 #if HAS_MPU6000 || HAS_MPU9250
 #include <ao_quaternion.h>
 #endif
@@ -62,12 +64,29 @@ uint8_t                     ao_sensor_errors;
  * resting
  */
 static uint16_t                ao_interval_end;
+#ifdef HAS_BARO
 static ao_v_t          ao_interval_min_height;
 static ao_v_t          ao_interval_max_height;
+#else
+static accel_t         ao_interval_min_accel_along, ao_interval_max_accel_along;
+static accel_t         ao_interval_min_accel_across, ao_interval_max_accel_across;
+static accel_t         ao_interval_min_accel_through, ao_interval_max_accel_through;
+#endif
 #if HAS_ACCEL
 static ao_v_t          ao_coast_avg_accel;
 #endif
 
+#define init_bounds(_cur, _min, _max) do {                             \
+               _min = _max = _cur;                                     \
+       } while (0)
+
+#define check_bounds(_cur, _min, _max) do {    \
+               if (_cur < _min)                \
+                       _min = _cur;            \
+               if (_cur > _max)                \
+                       _max = _cur;            \
+       } while(0)
+
 uint8_t                        ao_flight_force_idle;
 
 /* We also have a clock, which can be used to sanity check things in
@@ -109,9 +128,12 @@ 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_height < -1000 ||
-                           ao_ground_height > 7000)
+                           ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP
+#if HAS_BARO
+                           || ao_ground_height < -1000 ||
+                           ao_ground_height > 7000
+#endif
+                               )
                        {
                                /* Detected an accel value outside -1.5g to 1.5g
                                 * (or uncalibrated values), so we go into invalid mode
@@ -203,7 +225,9 @@ ao_flight(void)
                                ao_launch_tick = ao_boost_tick = ao_sample_tick;
 
                                /* start logging data */
+#if HAS_LOG
                                ao_log_start();
+#endif
 
 #if HAS_TELEMETRY
                                /* Increase telemetry rate */
@@ -238,7 +262,18 @@ ao_flight(void)
                            (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
                        {
 #if HAS_ACCEL
+#if HAS_BARO
                                ao_flight_state = ao_flight_fast;
+#else
+                               ao_flight_state = ao_flight_coast;
+
+                               /* Initialize landing detection interval values */
+                               ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
+
+                               init_bounds(ao_sample_accel_along, ao_interval_min_accel_along, ao_interval_max_accel_along);
+                               init_bounds(ao_sample_accel_across, ao_interval_min_accel_across, ao_interval_max_accel_across);
+                               init_bounds(ao_sample_accel_through, ao_interval_min_accel_through, ao_interval_max_accel_through);
+#endif
                                ao_coast_avg_accel = ao_accel;
 #else
                                ao_flight_state = ao_flight_coast;
@@ -247,7 +282,7 @@ ao_flight(void)
                                ao_wakeup(&ao_flight_state);
                        }
                        break;
-#if HAS_ACCEL
+#if HAS_ACCEL && HAS_BARO
                case ao_flight_fast:
                        /*
                         * This is essentially the same as coast,
@@ -264,6 +299,7 @@ ao_flight(void)
 #endif
                case ao_flight_coast:
 
+#if HAS_BARO
                        /*
                         * By customer request - allow the user
                         * to lock out apogee detection for a specified
@@ -308,9 +344,45 @@ ao_flight(void)
                                ao_flight_state = ao_flight_drogue;
                                ao_wakeup(&ao_flight_state);
                        }
+                       else
+#else /* not HAS_BARO */
+                       /* coast to land:
+                        *
+                        * accel: values stable
+                        */
+                       check_bounds(ao_sample_accel_along, ao_interval_min_accel_along, ao_interval_max_accel_along);
+                       check_bounds(ao_sample_accel_across, ao_interval_min_accel_across, ao_interval_max_accel_across);
+                       check_bounds(ao_sample_accel_through, ao_interval_min_accel_through, ao_interval_max_accel_through);
+
+#define MAX_QUIET_ACCEL        2
+
+                       if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
+                               if (ao_interval_max_accel_along - ao_interval_min_accel_along <= ao_data_accel_to_sample(MAX_QUIET_ACCEL) &&
+                                   ao_interval_max_accel_across - ao_interval_min_accel_across <= ao_data_accel_to_sample(MAX_QUIET_ACCEL) &&
+                                   ao_interval_max_accel_through - ao_interval_min_accel_through <= ao_data_accel_to_sample(MAX_QUIET_ACCEL))
+                               {
+                                       ao_flight_state = ao_flight_landed;
+#if HAS_ADC
+                                       /* turn off the ADC capture */
+                                       ao_timer_set_adc_interval(0);
+#endif
+
+                                       ao_wakeup(&ao_flight_state);
+                               }
+
+                               /* Reset interval values */
+                               ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
+
+                               init_bounds(ao_sample_accel_along, ao_interval_min_accel_along, ao_interval_max_accel_along);
+                               init_bounds(ao_sample_accel_across, ao_interval_min_accel_across, ao_interval_max_accel_across);
+                               init_bounds(ao_sample_accel_through, ao_interval_min_accel_through, ao_interval_max_accel_through);
+                       }
+#endif
 #if HAS_ACCEL
-                       else {
+                       {
+#if HAS_BARO
                        check_re_boost:
+#endif
                                ao_coast_avg_accel = ao_coast_avg_accel + ((ao_accel - ao_coast_avg_accel) >> 5);
                                if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
                                        ao_boost_tick = ao_sample_tick;
@@ -321,6 +393,7 @@ ao_flight(void)
 #endif
 
                        break;
+#if HAS_BARO
                case ao_flight_drogue:
 
                        /* drogue to main deploy:
@@ -363,7 +436,6 @@ ao_flight(void)
                         *
                         * barometer: altitude stable
                         */
-
                        if (ao_avg_height < ao_interval_min_height)
                                ao_interval_min_height = ao_avg_height;
                        if (ao_avg_height > ao_interval_max_height)
@@ -385,6 +457,7 @@ ao_flight(void)
                                ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
                        }
                        break;
+#endif /* HAS_BARO */
 #if HAS_FLIGHT_DEBUG
                case ao_flight_test:
 #if HAS_GYRO