#include <ao_log.h>
#endif
+#include <ao_flight.h>
+
#if HAS_MPU6000 || HAS_MPU9250
#include <ao_quaternion.h>
#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 */
+enum ao_flight_state ao_flight_state; /* current flight state */
+uint16_t ao_boost_tick; /* time of most recent boost detect */
+uint16_t ao_launch_tick; /* time of first boost detect */
+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;
+uint8_t ao_sensor_errors;
#endif
/*
* track min/max data over a long interval to detect
* resting
*/
-static __data uint16_t ao_interval_end;
-static __data ao_v_t ao_interval_min_height;
-static __data ao_v_t ao_interval_max_height;
+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 __data ao_v_t ao_coast_avg_accel;
+static ao_v_t ao_coast_avg_accel;
#endif
-__pdata uint8_t ao_flight_force_idle;
+#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
* case of other failures
#define abs(a) ((a) < 0 ? -(a) : (a))
+#if !HAS_BARO
+// #define DEBUG_ACCEL_ONLY 1
+#endif
+
void
ao_flight(void)
{
#if HAS_ACCEL
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 < (accel_t) ao_config.accel_plus_g - ACCEL_NOSE_UP ||
+ ao_ground_accel > (accel_t) 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
#endif
}
/* wakeup threads due to state change */
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ ao_wakeup(&ao_flight_state);
+
+ break;
+#if DEBUG_ACCEL_ONLY
+ case ao_flight_invalid:
+ case ao_flight_idle:
+ printf("+g %d ga %d sa %d accel %ld speed %ld\n",
+ ao_config.accel_plus_g, ao_ground_accel, ao_sample_accel, ao_accel, ao_speed);
break;
+#endif
+
case ao_flight_pad:
/* pad to boost:
*
*/
if (ao_height > AO_M_TO_HEIGHT(20)
#if HAS_ACCEL
- || (ao_accel > AO_MSS_TO_ACCEL(20) &&
- ao_speed > AO_MS_TO_SPEED(5))
+ || (ao_accel > AO_MSS_TO_ACCEL(20)
+ && ao_speed > AO_MS_TO_SPEED(5))
#endif
)
{
ao_flight_state = ao_flight_boost;
- ao_boost_tick = ao_sample_tick;
+ ao_wakeup(&ao_flight_state);
+
+ 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 */
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));
}
break;
case ao_flight_boost:
(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;
#endif
+ ao_wakeup(&ao_flight_state);
++ao_motor_number;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
-#if HAS_ACCEL
+#if HAS_ACCEL && HAS_BARO
case ao_flight_fast:
/*
* This is essentially the same as coast,
if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
{
ao_flight_state = ao_flight_coast;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ ao_wakeup(&ao_flight_state);
} else
goto check_re_boost;
break;
#endif
case ao_flight_coast:
+#if HAS_BARO
/*
* By customer request - allow the user
* to lock out apogee detection for a specified
* number of seconds.
*/
if (ao_config.apogee_lockout) {
- if ((int16_t) (ao_sample_tick - ao_boost_tick) <
+ if ((int16_t) (ao_sample_tick - ao_launch_tick) <
AO_SEC_TO_TICKS(ao_config.apogee_lockout))
break;
}
#endif
)
{
-#if HAS_IGNITE
- /* ignite the drogue charge */
- ao_ignite(ao_igniter_drogue);
-#endif
-
+ /* enter drogue state */
+ ao_flight_state = ao_flight_drogue;
+ ao_wakeup(&ao_flight_state);
#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
+ }
+ 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;
+ ao_wakeup(&ao_flight_state);
+#if HAS_ADC
+ /* turn off the ADC capture */
+ ao_timer_set_adc_interval(0);
+#endif
+ }
- /* and enter drogue state */
- ao_flight_state = ao_flight_drogue;
- ao_wakeup(DATA_TO_XDATA(&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;
ao_flight_state = ao_flight_boost;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ ao_wakeup(&ao_flight_state);
}
}
#endif
break;
+#if HAS_BARO
case ao_flight_drogue:
/* drogue to main deploy:
*/
if (ao_height <= ao_config.main_deploy)
{
-#if HAS_IGNITE
- ao_ignite(ao_igniter_main);
-#endif
+ ao_flight_state = ao_flight_main;
+ ao_wakeup(&ao_flight_state);
/*
* Start recording min/max height
ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
ao_interval_min_height = ao_interval_max_height = ao_avg_height;
-
- ao_flight_state = ao_flight_main;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
*
* 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)
if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
{
ao_flight_state = ao_flight_landed;
-
+ ao_wakeup(&ao_flight_state);
#if HAS_ADC
/* turn off the ADC capture */
ao_timer_set_adc_interval(0);
#endif
-
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
ao_interval_min_height = ao_interval_max_height = ao_avg_height;
ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
}
break;
+#endif /* HAS_BARO */
#if HAS_FLIGHT_DEBUG
case ao_flight_test:
#if HAS_GYRO
- printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
+ printf ("angle %4d pitch %7ld yaw %7ld roll %7ld\n",
ao_sample_orient,
((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
printf ("sample:\n");
printf (" tick %d\n", ao_sample_tick);
- printf (" raw pres %d\n", ao_sample_pres);
+#if HAS_BARO
+ printf (" raw pres %ld\n", ao_sample_pres);
+#endif
#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_BARO
+ printf (" ground pres %ld\n", ao_ground_pres);
+ printf (" ground alt %ld\n", ao_ground_height);
+#endif
#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_BARO
+ printf (" alt %ld\n", ao_sample_alt);
+ printf (" height %ld\n", ao_sample_height);
+#endif
+
#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 (" height %ld\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 (" max_height %ld\n", ao_max_height);
+ printf (" avg_height %ld\n", ao_avg_height);
+ printf (" error_h %ld\n", ao_error_h);
+#if !HAS_ACCEL
printf (" error_avg %d\n", ao_error_h_sq_avg);
+#endif
}
static void
ao_orient_test_select(void)
{
ao_orient_test = !ao_orient_test;
+ printf("orient test %d\n", ao_orient_test);
}
-__code struct ao_cmds ao_flight_cmds[] = {
+const struct ao_cmds ao_flight_cmds[] = {
{ ao_flight_dump, "F\0Dump flight status" },
{ ao_gyro_test, "G\0Test gyro code" },
{ ao_orient_test_select,"O\0Test orientation code" },
};
#endif
-static __xdata struct ao_task flight_task;
+static struct ao_task flight_task;
void
ao_flight_init(void)
projects / fw / altos / blobdiff