#include <getopt.h>
#include <math.h>
+#define GRAVITY 9.80665
+
#define AO_HERTZ 100
#define HAS_ADC 1
#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
+#define AO_GPS_NEW_DATA 1
+#define AO_GPS_NEW_TRACKING 2
+
+int ao_gps_new;
+
#if TELEMEGA
#define AO_ADC_NUM_SENSE 6
#define HAS_MS5607 1
#define DATA_TO_XDATA(x) (x)
-#define GRAVITY 9.80665
extern int16_t ao_ground_accel, ao_flight_accel;
extern int16_t ao_accel_2g;
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)
{
if (!ao_summary) {
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 "
+ "angle %5d "
+/* "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_orient,
+/*
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,
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)
{
#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;
projects / fw / altos / blobdiff