#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
-#if MEGAMETRUM
+#if TELEMEGA
#define AO_ADC_NUM_SENSE 6
#define HAS_MS5607 1
#define HAS_MPU6000 1
-#define HAS_MMA655X 0
+#define HAS_MMA655X 1
struct ao_adc {
int16_t sense[AO_ADC_NUM_SENSE];
#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
#define AO_NEED_ALTITUDE_TO_PRES 1
-#if MEGAMETRUM
+#if TELEMEGA
#include "ao_convert_pa.c"
#include <ao_ms5607.h>
struct ao_ms5607_prom ms5607_prom;
extern alt_t ao_ground_height;
extern alt_t ao_sample_alt;
+double ao_sample_qangle;
+
int ao_sample_prev_tick;
uint16_t prev_tick;
+
#include "ao_kalman.c"
+#include "ao_sqrt.c"
#include "ao_sample.c"
#include "ao_flight.c"
static double landed_time;
static double landed_height;
+#if HAS_MPU6000
+static struct ao_mpu6000_sample ao_ground_mpu6000;
+#endif
+
void
ao_test_exit(void)
{
exit(0);
}
+#if HAS_MPU6000
+static double
+ao_mpu6000_accel(int16_t sensor)
+{
+ return sensor / 32767.0 * MPU6000_ACCEL_FULLSCALE * GRAVITY;
+}
+
+static double
+ao_mpu6000_gyro(int32_t sensor)
+{
+ return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE;
+}
+#endif
+
void
ao_insert(void)
{
#else
double accel = 0.0;
#endif
-#if MEGAMETRUM
+#if TELEMEGA
double height;
ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
}
if (!ao_summary) {
- printf("%7.2f height %8.2f accel %8.3f state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
+ printf("%7.2f height %8.2f accel %8.3f "
+#if TELEMEGA
+ "roll %8.3f angle %8.3f qangle %8.3f "
+ "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f "
+#endif
+ "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
time,
height,
accel,
+#if TELEMEGA
+ ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0,
+ ao_mpu6000_gyro(ao_sample_angle) / 100.0,
+ ao_sample_qangle,
+ ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
+ ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
+ ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
+ ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
+ ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
+ ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
+#endif
ao_state_names[ao_flight_state],
ao_k_height / 65536.0,
ao_k_speed / 65536.0 / 16.0,
static int log_format;
+#if TELEMEGA
+
+static double
+ao_vec_norm(double x, double y, double z)
+{
+ return x*x + y*y + z*z;
+}
+
+static void
+ao_vec_normalize(double *x, double *y, double *z)
+{
+ double scale = 1/sqrt(ao_vec_norm(*x, *y, *z));
+
+ *x *= scale;
+ *y *= scale;
+ *z *= scale;
+}
+
+struct ao_quat {
+ double q0, q1, q2, q3;
+};
+
+static void
+ao_quat_mul(struct ao_quat *r, struct ao_quat *a, struct ao_quat *b)
+{
+ r->q0 = a->q0 * b->q0 - a->q1 * b->q1 - a->q2 * b->q2 - a->q3 * b->q3;
+ r->q1 = a->q0 * b->q1 + a->q1 * b->q0 + a->q2 * b->q3 - a->q3 * b->q2;
+ r->q2 = a->q0 * b->q2 - a->q1 * b->q3 + a->q2 * b->q0 + a->q3 * b->q1;
+ r->q3 = a->q0 * b->q3 + a->q1 * b->q2 - a->q2 * b->q1 + a->q3 * b->q0;
+}
+
+#if 0
+static void
+ao_quat_scale(struct ao_quat *r, struct ao_quat *a, double s)
+{
+ r->q0 = a->q0 * s;
+ r->q1 = a->q1 * s;
+ r->q2 = a->q2 * s;
+ r->q3 = a->q3 * s;
+}
+#endif
+
+static void
+ao_quat_conj(struct ao_quat *r, struct ao_quat *a)
+{
+ r->q0 = a->q0;
+ r->q1 = -a->q1;
+ r->q2 = -a->q2;
+ r->q3 = -a->q3;
+}
+
+static void
+ao_quat_rot(struct ao_quat *r, struct ao_quat *a, struct ao_quat *q)
+{
+ struct ao_quat t;
+ struct ao_quat c;
+ ao_quat_mul(&t, q, a);
+ ao_quat_conj(&c, q);
+ ao_quat_mul(r, &t, &c);
+}
+
+static void
+ao_quat_from_angle(struct ao_quat *r,
+ double x_rad,
+ double y_rad,
+ double z_rad)
+{
+ double angle = sqrt (x_rad * x_rad + y_rad * y_rad + z_rad * z_rad);
+ double s = sin(angle/2);
+ double c = cos(angle/2);
+
+ r->q0 = c;
+ r->q1 = x_rad * s / angle;
+ r->q2 = y_rad * s / angle;
+ r->q3 = z_rad * s / angle;
+}
+
+static void
+ao_quat_from_vector(struct ao_quat *r, double x, double y, double z)
+{
+ ao_vec_normalize(&x, &y, &z);
+ double x_rad = atan2(z, y);
+ double y_rad = atan2(x, z);
+ double z_rad = atan2(y, x);
+
+ ao_quat_from_angle(r, x_rad, y_rad, z_rad);
+}
+
+static double
+ao_quat_norm(struct ao_quat *a)
+{
+ return (a->q0 * a->q0 +
+ a->q1 * a->q1 +
+ a->q2 * a->q2 +
+ a->q3 * a->q3);
+}
+
+static void
+ao_quat_normalize(struct ao_quat *a)
+{
+ double norm = ao_quat_norm(a);
+
+ if (norm) {
+ double m = 1/sqrt(norm);
+
+ a->q0 *= m;
+ a->q1 *= m;
+ a->q2 *= m;
+ a->q3 *= m;
+ }
+}
+
+static struct ao_quat ao_up, ao_current;
+static struct ao_quat ao_orient;
+static int ao_orient_tick;
+
+void
+set_orientation(double x, double y, double z, int tick)
+{
+ struct ao_quat t;
+
+ printf ("set_orientation %g %g %g\n", x, y, z);
+ ao_quat_from_vector(&ao_orient, x, y, z);
+ ao_up.q1 = ao_up.q2 = 0;
+ ao_up.q0 = ao_up.q3 = sqrt(2)/2;
+ ao_orient_tick = tick;
+
+ ao_orient.q0 = 1;
+ ao_orient.q1 = 0;
+ ao_orient.q2 = 0;
+ ao_orient.q3 = 0;
+
+ printf ("orient (%g) %g %g %g up (%g) %g %g %g\n",
+ ao_orient.q0,
+ ao_orient.q1,
+ ao_orient.q2,
+ ao_orient.q3,
+ ao_up.q0,
+ ao_up.q1,
+ ao_up.q2,
+ ao_up.q3);
+
+ ao_quat_rot(&t, &ao_up, &ao_orient);
+ printf ("pad orient (%g) %g %g %g\n",
+ t.q0,
+ t.q1,
+ t.q2,
+ t.q3);
+
+}
+
+void
+update_orientation (double rate_x, double rate_y, double rate_z, int tick)
+{
+ struct ao_quat q_dot;
+ double lambda;
+ double dt = (tick - ao_orient_tick) / 100.0;
+
+ ao_orient_tick = tick;
+
+// lambda = 1 - ao_quat_norm(&ao_orient);
+ lambda = 0;
+
+ q_dot.q0 = -0.5 * (ao_orient.q1 * rate_x + ao_orient.q2 * rate_y + ao_orient.q3 * rate_z) + lambda * ao_orient.q0;
+ q_dot.q1 = 0.5 * (ao_orient.q0 * rate_x + ao_orient.q2 * rate_z - ao_orient.q3 * rate_y) + lambda * ao_orient.q1;
+ q_dot.q2 = 0.5 * (ao_orient.q0 * rate_y + ao_orient.q3 * rate_x - ao_orient.q1 * rate_z) + lambda * ao_orient.q2;
+ q_dot.q3 = 0.5 * (ao_orient.q0 * rate_z + ao_orient.q1 * rate_y - ao_orient.q2 * rate_x) + lambda * ao_orient.q3;
+
+#if 0
+ printf ("update_orientation %g %g %g (%g s)\n", rate_x, rate_y, rate_z, dt);
+ printf ("q_dot (%g) %g %g %g\n",
+ q_dot.q0,
+ q_dot.q1,
+ q_dot.q2,
+ q_dot.q3);
+#endif
+
+ ao_orient.q0 += q_dot.q0 * dt;
+ ao_orient.q1 += q_dot.q1 * dt;
+ ao_orient.q2 += q_dot.q2 * dt;
+ ao_orient.q3 += q_dot.q3 * dt;
+
+ ao_quat_normalize(&ao_orient);
+
+ ao_quat_rot(&ao_current, &ao_up, &ao_orient);
+
+ ao_sample_qangle = 180 / M_PI * acos(ao_current.q3 * sqrt(2));
+#if 0
+ printf ("orient (%g) %g %g %g current (%g) %g %g %g\n",
+ ao_orient.q0,
+ ao_orient.q1,
+ ao_orient.q2,
+ ao_orient.q3,
+ ao_current.q0,
+ ao_current.q1,
+ ao_current.q2,
+ ao_current.q3);
+#endif
+}
+#endif
+
void
ao_sleep(void *wchan)
{
for (;;) {
if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
{
-#if MEGAMETRUM
+#if TELEMEGA
+ ao_data_static.mpu6000 = ao_ground_mpu6000;
#else
ao_data_static.adc.accel = ao_flight_ground_accel;
#endif
if (words[nword] == NULL)
break;
}
-#if MEGAMETRUM
- if (log_format == AO_LOG_FORMAT_MEGAMETRUM && nword == 30 && strlen(words[0]) == 1) {
+#if TELEMEGA
+ if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
int i;
struct ao_ms5607_value value;
ao_data_static.ms5607_raw.pres = int32(bytes, 0);
ao_data_static.ms5607_raw.temp = int32(bytes, 4);
ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
- ao_data_set_accel(&ao_data_static, -int16(bytes, 10));
-// printf ("accel %d pres %d\n", ao_data_accel_cook(&ao_data_static), value.pres);
+ ao_data_static.mpu6000.accel_x = int16(bytes, 8);
+ ao_data_static.mpu6000.accel_y = -int16(bytes, 10);
+ ao_data_static.mpu6000.accel_z = int16(bytes, 12);
+ ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
+ ao_data_static.mpu6000.gyro_y = -int16(bytes, 16);
+ ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
+#if HAS_MMA655X
+ ao_data_static.mma655x = int16(bytes, 26);
+#endif
+ if (ao_records_read == 0)
+ ao_ground_mpu6000 = ao_data_static.mpu6000;
+ else if (ao_records_read < 10) {
+#define f(f) ao_ground_mpu6000.f = ao_ground_mpu6000.f + ((ao_data_static.mpu6000.f - ao_ground_mpu6000.f) >> 2)
+ f(accel_x);
+ f(accel_y);
+ f(accel_z);
+ f(gyro_x);
+ f(gyro_y);
+ f(gyro_z);
+
+ double accel_x = ao_mpu6000_accel(ao_ground_mpu6000.accel_x);
+ double accel_y = ao_mpu6000_accel(ao_ground_mpu6000.accel_y);
+ double accel_z = ao_mpu6000_accel(ao_ground_mpu6000.accel_z);
+
+ /* X and Y are in the ground plane, arbitraryily picked as MPU X and Z axes
+ * Z is normal to the ground, the MPU y axis
+ */
+ set_orientation(accel_x, accel_z, accel_y, tick);
+ } else {
+ double rate_x = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x);
+ double rate_y = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y);
+ double rate_z = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z);
+
+ update_orientation(rate_x * M_PI / 180, rate_z * M_PI / 180, rate_y * M_PI / 180, tick);
+ }
ao_records_read++;
ao_insert();
return;
continue;
}
#else
- if (nword == 4 && log_format != AO_LOG_FORMAT_MEGAMETRUM) {
+ if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
type = words[0][0];
tick = strtoul(words[1], NULL, 16);
a = strtoul(words[2], NULL, 16);
if (type != 'F' && !ao_flight_started)
continue;
-#if MEGAMETRUM
+#if TELEMEGA
+ (void) a;
+ (void) b;
#else
switch (type) {
case 'F':
projects / fw / altos / blobdiff