X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao_flight.c;h=0b47bfa51a8a50adcaef8a9d1c1cdc3319872437;hp=bd361b65d0d490a2ded54e9fcb300facf0c8df94;hb=8168820b667cc1deffab64dd81cb4e6e2e6eabe4;hpb=6fb26340b150e831a8a9e25e3b68074c29e48dbe diff --git a/ao_flight.c b/ao_flight.c index bd361b65..0b47bfa5 100644 --- a/ao_flight.c +++ b/ao_flight.c @@ -23,6 +23,7 @@ __pdata enum ao_flight_state ao_flight_state; /* current flight state */ __pdata uint16_t ao_flight_tick; /* time of last data */ +__pdata uint16_t ao_flight_prev_tick; /* time of previous data */ __pdata int16_t ao_flight_accel; /* filtered acceleration */ __pdata int16_t ao_flight_pres; /* filtered pressure */ __pdata int16_t ao_ground_pres; /* startup pressure */ @@ -75,10 +76,14 @@ __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres; #define ACCEL_G 265 #define ACCEL_ZERO_G 16000 -#define ACCEL_NOSE_UP (ACCEL_ZERO_G - ACCEL_G * 2 /3) +#define ACCEL_NOSE_UP (ACCEL_G * 2 /3) #define ACCEL_BOOST ACCEL_G * 2 #define ACCEL_INT_LAND (ACCEL_G / 10) #define ACCEL_VEL_LAND VEL_MPS_TO_COUNT(10) +#define ACCEL_VEL_MACH VEL_MPS_TO_COUNT(200) +#define ACCEL_VEL_APOGEE VEL_MPS_TO_COUNT(2) +#define ACCEL_VEL_MAIN VEL_MPS_TO_COUNT(100) +#define ACCEL_VEL_BOOST VEL_MPS_TO_COUNT(5) /* * Barometer calibration @@ -105,7 +110,7 @@ __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres; #define BARO_COAST (BARO_kPa * 5) /* 5kpa, or about 500m */ #define BARO_MAIN (BARO_kPa) /* 1kPa, or about 100m */ #define BARO_INT_LAND (BARO_kPa / 20) /* .05kPa, or about 5m */ -#define BARO_LAND (BARO_kPa * 5) /* 5kPa or about 1000m */ +#define BARO_LAND (BARO_kPa * 10) /* 10kPa or about 1000m */ /* We also have a clock, which can be used to sanity check things in * case of other failures @@ -119,7 +124,7 @@ __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres; * it's scaled by 100 */ __pdata int32_t ao_flight_vel; -__pdata int32_t ao_max_vel; +__pdata int32_t ao_min_vel; __xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum; /* Landing is detected by getting constant readings from both pressure and accelerometer @@ -127,28 +132,47 @@ __xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum; */ #define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(20) +#define abs(a) ((a) < 0 ? -(a) : (a)) + void ao_flight(void) { - __pdata static uint8_t nsamples = 0; + __pdata static uint16_t nsamples = 0; ao_flight_adc = ao_adc_head; ao_raw_accel_prev = 0; ao_raw_accel = 0; ao_raw_pres = 0; - ao_interval_cur_min_pres = 0x7fff; - ao_interval_cur_max_pres = -0x7fff; - ao_interval_cur_min_accel = 0x7fff; - ao_interval_cur_max_accel = -0x7fff; + ao_flight_tick = 0; for (;;) { ao_sleep(&ao_adc_ring); while (ao_flight_adc != ao_adc_head) { + __pdata uint8_t ticks; + __pdata int16_t ao_vel_change; + ao_flight_prev_tick = ao_flight_tick; + + /* Capture a sample */ ao_raw_accel = ao_adc_ring[ao_flight_adc].accel; ao_raw_pres = ao_adc_ring[ao_flight_adc].pres; ao_flight_tick = ao_adc_ring[ao_flight_adc].tick; - /* all of our accelerations are negative, so subtract instead of add to get speed */ - ao_flight_vel -= (int32_t) (((ao_raw_accel + ao_raw_accel_prev) >> 1) - ao_ground_accel); + + /* Update velocity + * + * The accelerometer is mounted so that + * acceleration yields negative values + * while deceleration yields positive values, + * so subtract instead of add. + */ + ticks = ao_flight_tick - ao_flight_prev_tick; + ao_vel_change = (((ao_raw_accel + ao_raw_accel_prev) >> 1) - ao_ground_accel); ao_raw_accel_prev = ao_raw_accel; + + /* one is a common interval */ + if (ticks == 1) + ao_flight_vel -= (int32_t) ao_vel_change; + else + ao_flight_vel -= (int32_t) ao_vel_change * (int32_t) ticks; + ao_flight_adc = ao_adc_ring_next(ao_flight_adc); } ao_flight_accel -= ao_flight_accel >> 4; @@ -158,26 +182,12 @@ ao_flight(void) if (ao_flight_pres < ao_min_pres) ao_min_pres = ao_flight_pres; - if (ao_flight_vel > ao_max_vel) - ao_max_vel = ao_flight_vel; - - if (ao_flight_pres < ao_interval_cur_min_pres) - ao_interval_cur_min_pres = ao_flight_pres; - if (ao_flight_pres > ao_interval_cur_max_pres) - ao_interval_cur_max_pres = ao_flight_pres; - if (ao_flight_accel < ao_interval_cur_min_accel) - ao_interval_cur_min_accel = ao_flight_accel; - if (ao_flight_accel > ao_interval_cur_max_accel) - ao_interval_cur_max_accel = ao_flight_accel; - - if ((int16_t) (ao_flight_tick - ao_interval_end) >= 0) { - ao_interval_max_pres = ao_interval_cur_max_pres; - ao_interval_min_pres = ao_interval_cur_min_pres; - ao_interval_max_accel = ao_interval_cur_max_accel; - ao_interval_min_accel = ao_interval_cur_min_accel; - ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS; - ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres; - ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel; + if (ao_flight_vel >= 0) { + if (ao_flight_vel < ao_min_vel) + ao_min_vel = ao_flight_vel; + } else { + if (-ao_flight_vel < ao_min_vel) + ao_min_vel = -ao_flight_vel; } switch (ao_flight_state) { @@ -185,10 +195,10 @@ ao_flight(void) /* startup state: * - * Collect 100 samples of acceleration and pressure + * Collect 1000 samples of acceleration and pressure * data and average them to find the resting values */ - if (nsamples < 100) { + if (nsamples < 1000) { ao_raw_accel_sum += ao_raw_accel; ao_raw_pres_sum += ao_raw_pres; ++nsamples; @@ -197,14 +207,25 @@ ao_flight(void) ao_ground_accel = (ao_raw_accel_sum / nsamples); ao_ground_pres = (ao_raw_pres_sum / nsamples); ao_min_pres = ao_ground_pres; - ao_main_pres = ao_ground_pres - BARO_MAIN; + ao_config_get(); + ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy); ao_flight_vel = 0; - ao_max_vel = 0; - - ao_interval_end = ao_flight_tick; + ao_min_vel = 0; /* Go to launchpad state if the nose is pointing up */ - if (ao_flight_accel < ACCEL_NOSE_UP) { + ao_config_get(); + if (ao_flight_accel < ao_config.accel_zero_g - ACCEL_NOSE_UP) { + + /* Disable the USB controller in flight mode + * to save power + */ + ao_usb_disable(); + + /* Turn on telemetry system + */ + ao_rdf_set(1); + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD); + ao_flight_state = ao_flight_launchpad; ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); } else { @@ -213,7 +234,6 @@ ao_flight(void) /* Turn on the Green LED in idle mode */ ao_led_on(AO_LED_GREEN); - ao_timer_set_adc_interval(100); ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); } /* signal successful initialization by turning off the LED */ @@ -223,7 +243,7 @@ ao_flight(void) /* pad to boost: * - * accelerometer: > 2g + * accelerometer: > 2g AND velocity > 5m/s * OR * barometer: > 20m vertical motion * @@ -231,12 +251,22 @@ ao_flight(void) * the barometer, but we use both to make sure this * transition is detected */ - if (ao_flight_accel < ao_ground_accel - ACCEL_BOOST || + if ((ao_flight_accel < ao_ground_accel - ACCEL_BOOST && + ao_flight_vel > ACCEL_VEL_BOOST) || ao_flight_pres < ao_ground_pres - BARO_LAUNCH) { ao_flight_state = ao_flight_boost; ao_launch_tick = ao_flight_tick; + + /* start logging data */ ao_log_start(); + + /* Increase telemetry rate */ + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT); + + /* disable RDF beacon */ + ao_rdf_set(0); + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); break; } @@ -260,33 +290,40 @@ ao_flight(void) ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); break; } - /* fall through ... */ + break; case ao_flight_coast: - /* boost/coast to apogee detect: + /* coast to apogee detect: * - * accelerometer: integrated velocity < 200 m/s AND < max_vel - 50m/s + * accelerometer: integrated velocity < 200 m/s * OR * barometer: fall at least 500m from max altitude * * This extra state is required to avoid mis-detecting - * apogee due to mach transitions. For slow flights (<200m/s) - * we expect to transition right through this stage to - * apogee detect. + * apogee due to mach transitions. + * + * XXX this is essentially a single-detector test + * as the 500m altitude change would likely result + * in a loss of the rocket. More data on precisely + * how big a pressure change the mach transition + * generates would be useful here. */ - if ((ao_flight_vel < VEL_MPS_TO_COUNT(200) && - ao_flight_vel < ao_max_vel - VEL_MPS_TO_COUNT(50)) || + if (ao_flight_vel < ACCEL_VEL_MACH || ao_flight_pres > ao_min_pres + BARO_COAST) { + /* set min velocity to current velocity for + * apogee detect + */ + ao_min_vel = abs(ao_flight_vel); ao_flight_state = ao_flight_apogee; ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); } break; case ao_flight_apogee: - /* apogee to drogue deploy: + /* apogee detect to drogue deploy: * - * accelerometer: integrated velocity < 10m/s + * accelerometer: abs(velocity) > min_velocity + 2m/s * OR * barometer: fall at least 10m * @@ -297,50 +334,108 @@ ao_flight(void) * over in that case and the integrated velocity * measurement should suffice to find apogee */ - if (ao_flight_vel < VEL_MPS_TO_COUNT(-10) || - ao_flight_pres - BARO_APOGEE > ao_min_pres) + if (abs(ao_flight_vel) > ao_min_vel + ACCEL_VEL_APOGEE || + ao_flight_pres > ao_min_pres + BARO_APOGEE) { + /* ignite the drogue charge */ ao_ignite(ao_igniter_drogue); + + /* slow down the telemetry system */ + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER); + + /* slow down the ADC sample rate */ + ao_timer_set_adc_interval(10); + + /* Enable RDF beacon */ + ao_rdf_set(1); + + /* + * Start recording min/max accel and pres for a while + * to figure out when the rocket has landed + */ + /* Set the 'last' limits to max range to prevent + * early resting detection + */ + ao_interval_min_accel = 0; + ao_interval_max_accel = 0x7fff; + ao_interval_min_pres = 0; + ao_interval_max_pres = 0x7fff; + + /* initialize interval values */ + ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS; + + ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres; + ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel; + + /* and enter drogue state */ ao_flight_state = ao_flight_drogue; ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); } + break; case ao_flight_drogue: /* drogue to main deploy: * - * accelerometer: abs(velocity) > 50m/s - * OR * barometer: reach main deploy altitude + * + * Would like to use the accelerometer for this test, but + * the orientation of the flight computer is unknown after + * drogue deploy, so we ignore it. Could also detect + * high descent rate using the pressure sensor to + * recognize drogue deploy failure and eject the main + * at that point. Perhaps also use the drogue sense lines + * to notice continutity? */ - if (ao_flight_vel < VEL_MPS_TO_COUNT(-50) || - ao_flight_vel > VEL_MPS_TO_COUNT(50) || - ao_flight_pres >= ao_main_pres) + if (ao_flight_pres >= ao_main_pres) { ao_ignite(ao_igniter_main); ao_flight_state = ao_flight_main; ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); } + /* fall through... */ case ao_flight_main: /* drogue/main to land: * - * accelerometer: value stable and velocity less than 10m/s - * OR - * barometer: altitude stable and within 500m of the launch altitude + * accelerometer: value stable + * AND + * barometer: altitude stable and within 1000m of the launch altitude */ - if ((ao_flight_vel < ACCEL_VEL_LAND && - (ao_interval_max_accel - ao_interval_min_accel) < ACCEL_INT_LAND) || - (ao_flight_pres > ao_ground_pres - BARO_LAND && - (ao_interval_max_pres - ao_interval_min_pres) < BARO_INT_LAND)) + + if (ao_flight_pres < ao_interval_cur_min_pres) + ao_interval_cur_min_pres = ao_flight_pres; + if (ao_flight_pres > ao_interval_cur_max_pres) + ao_interval_cur_max_pres = ao_flight_pres; + if (ao_flight_accel < ao_interval_cur_min_accel) + ao_interval_cur_min_accel = ao_flight_accel; + if (ao_flight_accel > ao_interval_cur_max_accel) + ao_interval_cur_max_accel = ao_flight_accel; + + if ((int16_t) (ao_flight_tick - ao_interval_end) >= 0) { + ao_interval_max_pres = ao_interval_cur_max_pres; + ao_interval_min_pres = ao_interval_cur_min_pres; + ao_interval_max_accel = ao_interval_cur_max_accel; + ao_interval_min_accel = ao_interval_cur_min_accel; + ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS; + ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres; + ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel; + } + + if ((uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND && + ao_flight_pres > ao_ground_pres - BARO_LAND && + (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND) { ao_flight_state = ao_flight_landed; + + /* turn off the ADC capture */ + ao_timer_set_adc_interval(0); + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); } break; case ao_flight_landed: - ao_log_stop(); break; } } @@ -349,14 +444,15 @@ ao_flight(void) #define AO_ACCEL_COUNT_TO_MSS(count) ((count) / 27) #define AO_VEL_COUNT_TO_MS(count) ((int16_t) ((count) / 2700)) -void +static void ao_flight_status(void) { - printf("STATE: %7s accel: %d speed: %d altitude: %d\n", + printf("STATE: %7s accel: %d speed: %d altitude: %d main: %d\n", ao_state_names[ao_flight_state], AO_ACCEL_COUNT_TO_MSS(ACCEL_ZERO_G - ao_flight_accel), AO_VEL_COUNT_TO_MS(ao_flight_vel), - ao_pres_to_altitude(ao_flight_pres)); + ao_pres_to_altitude(ao_flight_pres), + ao_pres_to_altitude(ao_main_pres)); } static __xdata struct ao_task flight_task;