#include <ao.h>
#include <ao_flight.h>
+#include <ao_log.h>
+#include <ao_log_gps.h>
#include <ao_distance.h>
+#include <ao_tracker.h>
#include <ao_exti.h>
-enum ao_flight_state ao_flight_state;
-
-/* Speeds for the various modes, 2m/s seems reasonable for 'not moving' */
-#define AO_TRACKER_NOT_MOVING 200
-
-static uint8_t ao_tracker_force_telem;
-static uint8_t ao_tracker_force_launch;
+static uint8_t ao_tracker_force_telem;
#if HAS_USB_CONNECT
static inline uint8_t
#define ao_usb_connected() 1
#endif
-#define STARTUP_AVERAGE 5
+struct gps_position {
+ int32_t latitude;
+ int32_t longitude;
+ gps_alt_t altitude;
+};
-static void
-ao_tracker_start_flight(void)
-{
- struct ao_log_mega log;
- ao_log_start();
- log.type = AO_LOG_FLIGHT;
- log.tick = ao_time();
-#if HAS_ACCEL
- log.u.flight.ground_accel = ao_ground_accel;
-#endif
-#if HAS_GYRO
- log.u.flight.ground_accel_along = ao_ground_accel_along;
- log.u.flight.ground_accel_across = ao_ground_accel_across;
- log.u.flight.ground_accel_through = ao_ground_accel_through;
- log.u.flight.ground_roll = ao_ground_roll;
- log.u.flight.ground_pitch = ao_ground_pitch;
- log.u.flight.ground_yaw = ao_ground_yaw;
-#endif
-#if HAS_FLIGHT
- log.u.flight.ground_pres = ao_ground_pres;
-#endif
- log.u.flight.flight = ao_flight_number;
- ao_log_mega(&log);
-}
+#define GPS_RING 16
+
+struct gps_position gps_position[GPS_RING];
+
+#define ao_gps_ring_next(n) (((n) + 1) & (GPS_RING - 1))
+#define ao_gps_ring_prev(n) (((n) - 1) & (GPS_RING - 1))
+
+static uint8_t gps_head;
+
+static uint8_t tracker_mutex;
+static uint8_t log_started;
+static struct ao_telemetry_location gps_data;
+static uint8_t tracker_running;
+static uint16_t tracker_interval;
static void
ao_tracker(void)
{
- uint16_t telem_rate = AO_SEC_TO_TICKS(1), new_telem_rate;
- uint8_t gps_rate = 1, new_gps_rate;
- uint8_t telem_enabled = 0, new_telem_enabled;
- int32_t start_latitude = 0, start_longitude = 0;
- int16_t start_altitude = 0;
- uint32_t ground_distance;
- int16_t height;
- uint16_t speed;
- int64_t lat_sum = 0, lon_sum = 0;
- int32_t alt_sum = 0;
- int nsamples = 0;
+ uint8_t new;
+ int32_t ground_distance;
+ int16_t height;
+ uint16_t gps_tick;
+ uint8_t new_tracker_running;
#if HAS_ADC
ao_timer_set_adc_interval(100);
#if !HAS_USB_CONNECT
ao_tracker_force_telem = 1;
#endif
-
- ao_log_scan();
+ log_started = ao_log_scan();
ao_rdf_set(1);
- ao_telemetry_set_interval(0);
+ tracker_interval = ao_config.tracker_interval;
+ ao_gps_set_rate(tracker_interval);
- ao_flight_state = ao_flight_startup;
for (;;) {
- ao_sleep(&ao_gps_new);
- new_gps_rate = gps_rate;
- new_telem_rate = telem_rate;
+ /** Wait for new GPS data
+ */
+ while (!(new = ao_gps_new))
+ ao_sleep(&ao_gps_new);
+ ao_mutex_get(&ao_gps_mutex);
+ gps_data = ao_gps_data;
+ gps_tick = ao_gps_tick;
+ ao_gps_new = 0;
+ ao_mutex_put(&ao_gps_mutex);
+
+ new_tracker_running = ao_tracker_force_telem || !ao_usb_connected();
- new_telem_enabled = ao_tracker_force_telem || !ao_usb_connected();
+ if (ao_config.tracker_interval != tracker_interval) {
+ tracker_interval = ao_config.tracker_interval;
+ ao_gps_set_rate(tracker_interval);
- ao_mutex_get(&ao_gps_mutex);
+ /* force telemetry interval to be reset */
+ tracker_running = 0;
+ }
- /* Don't change anything if GPS isn't locked */
- if ((ao_gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
- (AO_GPS_VALID|AO_GPS_COURSE_VALID))
- {
- switch (ao_flight_state) {
- case ao_flight_startup:
- /* startup to pad when GPS locks */
-
- lat_sum += ao_gps_data.latitude;
- lon_sum += ao_gps_data.longitude;
- alt_sum += ao_gps_data.altitude;
-
- if (++nsamples >= STARTUP_AVERAGE) {
- ao_flight_state = ao_flight_pad;
- ao_wakeup(&ao_flight_state);
- start_latitude = lat_sum / nsamples;
- start_longitude = lon_sum / nsamples;
- start_altitude = alt_sum / nsamples;
+ if (new_tracker_running && !tracker_running)
+ ao_telemetry_set_interval(AO_SEC_TO_TICKS(tracker_interval));
+ else if (!new_tracker_running && tracker_running)
+ ao_telemetry_set_interval(0);
+
+ tracker_running = new_tracker_running;
+
+ if (new_tracker_running && !ao_log_running)
+ ao_log_start();
+ else if (!new_tracker_running && ao_log_running)
+ ao_log_stop();
+
+ if (!ao_log_running)
+ continue;
+
+ if (new & AO_GPS_NEW_DATA) {
+ if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+ (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+ {
+ uint8_t ring;
+ uint8_t moving = 0;
+ gps_alt_t altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data);
+
+ for (ring = ao_gps_ring_next(gps_head); ring != gps_head; ring = ao_gps_ring_next(ring)) {
+ ground_distance = ao_distance(gps_data.latitude, gps_data.longitude,
+ gps_position[ring].latitude,
+ gps_position[ring].longitude);
+ height = gps_position[ring].altitude - altitude;
+ if (height < 0)
+ height = -height;
+
+ if (ao_tracker_force_telem)
+ printf("head %d ring %d ground_distance %d height %d\n", gps_head, ring, ground_distance, height);
+ if (ground_distance > ao_config.tracker_motion ||
+ height > (ao_config.tracker_motion << 1))
+ {
+ moving = 1;
+ break;
+ }
}
- break;
- case ao_flight_pad:
- ground_distance = ao_distance(ao_gps_data.latitude,
- ao_gps_data.longitude,
- start_latitude,
- start_longitude);
- height = ao_gps_data.altitude - start_altitude;
- if (height < 0)
- height = -height;
-
- if (ground_distance >= ao_config.tracker_start_horiz ||
- height >= ao_config.tracker_start_vert ||
- ao_tracker_force_launch)
- {
- ao_flight_state = ao_flight_drogue;
- ao_wakeup(&ao_flight_state);
- ao_log_start();
- ao_tracker_start_flight();
+ if (ao_tracker_force_telem) {
+ printf ("moving %d started %d\n", moving, log_started);
+ flush();
}
- break;
- case ao_flight_drogue:
- /* Modulate data rates based on speed (in cm/s) */
- if (ao_gps_data.climb_rate < 0)
- speed = -ao_gps_data.climb_rate;
- else
- speed = ao_gps_data.climb_rate;
- speed += ao_gps_data.ground_speed;
-
- if (speed < AO_TRACKER_NOT_MOVING) {
- new_telem_rate = AO_SEC_TO_TICKS(10);
- new_gps_rate = 10;
- } else {
- new_telem_rate = AO_SEC_TO_TICKS(1);
- new_gps_rate = 1;
+ if (moving) {
+ ao_mutex_get(&tracker_mutex);
+ if (!log_started) {
+ ao_log_gps_flight();
+ log_started = 1;
+ }
+ ao_log_gps_data(gps_tick, &gps_data);
+ gps_position[gps_head].latitude = gps_data.latitude;
+ gps_position[gps_head].longitude = gps_data.longitude;
+ gps_position[gps_head].altitude = altitude;
+ gps_head = ao_gps_ring_next(gps_head);
+ ao_mutex_put(&tracker_mutex);
}
- break;
- default:
- break;
}
}
- ao_mutex_put(&ao_gps_mutex);
+ }
+}
- if (new_telem_rate != telem_rate || new_telem_enabled != telem_enabled) {
- if (new_telem_enabled)
- ao_telemetry_set_interval(new_telem_rate);
- else
- ao_telemetry_set_interval(0);
- telem_rate = new_telem_rate;
- telem_enabled = new_telem_enabled;
- }
+static uint8_t erasing_current;
- if (new_gps_rate != gps_rate) {
- ao_gps_set_rate(new_gps_rate);
- gps_rate = new_gps_rate;
- }
+void
+ao_tracker_erase_start(uint16_t flight)
+{
+ erasing_current = flight == ao_flight_number;
+ if (erasing_current) {
+ ao_mutex_get(&tracker_mutex);
+ ao_log_stop();
+ if (++ao_flight_number == 0)
+ ao_flight_number = 1;
+ }
+}
+
+void
+ao_tracker_erase_end(void)
+{
+ if (erasing_current) {
+ log_started = ao_log_scan();
+ ao_mutex_put(&tracker_mutex);
}
}
static void
ao_tracker_set_telem(void)
{
+ uint8_t telem;
ao_cmd_hex();
- if (ao_cmd_status == ao_cmd_success) {
- ao_tracker_force_telem = (ao_cmd_lex_i & 1) != 0;
- ao_tracker_force_launch = (ao_cmd_lex_i & 2) != 0;
- }
- printf ("flight %d force telem %d force launch %d\n",
- ao_flight_number, ao_tracker_force_telem, ao_tracker_force_launch);
+ telem = ao_cmd_lex_i;
+ if (ao_cmd_status == ao_cmd_success)
+ ao_tracker_force_telem = telem;
+ ao_cmd_status = ao_cmd_success;
+ printf ("flight: %d\n", ao_flight_number);
+ printf ("force_telem: %d\n", ao_tracker_force_telem);
+ printf ("tracker_running: %d\n", tracker_running);
+ printf ("log_started: %d\n", log_started);
+ printf ("latitude: %ld\n", (long) gps_data.latitude);
+ printf ("longitude: %ld\n", (long) gps_data.longitude);
+ printf ("altitude: %ld\n", AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data));
+ printf ("log_running: %d\n", ao_log_running);
+ printf ("log_start_pos: %ld\n", (long) ao_log_start_pos);
+ printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos);
+ printf ("log_end_pos: %ld\n", (long) ao_log_end_pos);
}
static const struct ao_cmds ao_tracker_cmds[] = {
projects / fw / altos / blobdiff