X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao_flight.c;h=51b2cd5eff138d8ff937f2fc3917ca4ca7aa0820;hp=06d4ba3d6891f1fc99ecbf0c555cf09df8bea711;hb=d6f5a0689023546464a71561f53fa2c943077c88;hpb=75ca1751b7cac2f8074d0713ee96d6ab45b54f19 diff --git a/ao_flight.c b/ao_flight.c index 06d4ba3d..51b2cd5e 100644 --- a/ao_flight.c +++ b/ao_flight.c @@ -83,6 +83,7 @@ __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres; #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 @@ -124,6 +125,8 @@ __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres; */ __pdata int32_t ao_flight_vel; __pdata int32_t ao_min_vel; +__pdata int32_t ao_old_vel; +__pdata int16_t ao_old_vel_tick; __xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum; /* Landing is detected by getting constant readings from both pressure and accelerometer @@ -136,7 +139,7 @@ __xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum; 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; @@ -155,6 +158,10 @@ ao_flight(void) ao_raw_pres = ao_adc_ring[ao_flight_adc].pres; ao_flight_tick = ao_adc_ring[ao_flight_adc].tick; + ao_flight_accel -= ao_flight_accel >> 4; + ao_flight_accel += ao_raw_accel >> 4; + ao_flight_pres -= ao_flight_pres >> 4; + ao_flight_pres += ao_raw_pres >> 4; /* Update velocity * * The accelerometer is mounted so that @@ -163,7 +170,7 @@ ao_flight(void) * 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_vel_change = (((ao_raw_accel >> 1) + (ao_raw_accel_prev >> 1)) - ao_ground_accel); ao_raw_accel_prev = ao_raw_accel; /* one is a common interval */ @@ -174,10 +181,6 @@ ao_flight(void) ao_flight_adc = ao_adc_ring_next(ao_flight_adc); } - ao_flight_accel -= ao_flight_accel >> 4; - ao_flight_accel += ao_raw_accel >> 4; - ao_flight_pres -= ao_flight_pres >> 4; - ao_flight_pres += ao_raw_pres >> 4; if (ao_flight_pres < ao_min_pres) ao_min_pres = ao_flight_pres; @@ -194,10 +197,10 @@ 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; @@ -210,6 +213,8 @@ ao_flight(void) ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy); ao_flight_vel = 0; ao_min_vel = 0; + ao_old_vel = ao_flight_vel; + ao_old_vel_tick = ao_flight_tick; /* Go to launchpad state if the nose is pointing up */ ao_config_get(); @@ -223,7 +228,7 @@ ao_flight(void) /* Turn on telemetry system */ ao_rdf_set(1); - ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT); + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD); ao_flight_state = ao_flight_launchpad; ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); @@ -240,9 +245,19 @@ ao_flight(void) break; case ao_flight_launchpad: + /* Trim velocity + * + * Once a second, remove any velocity from + * a second ago + */ + if ((int16_t) (ao_flight_tick - ao_old_vel_tick) >= AO_SEC_TO_TICKS(1)) { + ao_old_vel_tick = ao_flight_tick; + ao_flight_vel -= ao_old_vel; + ao_old_vel = ao_flight_vel; + } /* pad to boost: * - * accelerometer: > 2g + * accelerometer: > 2g AND velocity > 5m/s * OR * barometer: > 20m vertical motion * @@ -250,7 +265,8 @@ 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; @@ -259,6 +275,9 @@ ao_flight(void) /* start logging data */ ao_log_start(); + /* Increase telemetry rate */ + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT); + /* disable RDF beacon */ ao_rdf_set(0); @@ -309,7 +328,7 @@ ao_flight(void) /* set min velocity to current velocity for * apogee detect */ - ao_min_vel = ao_flight_vel; + ao_min_vel = abs(ao_flight_vel); ao_flight_state = ao_flight_apogee; ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); } @@ -329,7 +348,7 @@ ao_flight(void) * over in that case and the integrated velocity * measurement should suffice to find apogee */ - if (abs(ao_flight_vel) > ao_min_vel + ACCEL_VEL_APOGEE || + if (/* abs(ao_flight_vel) > ao_min_vel + ACCEL_VEL_APOGEE || */ ao_flight_pres > ao_min_pres + BARO_APOGEE) { /* ignite the drogue charge */ @@ -344,39 +363,45 @@ ao_flight(void) /* 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)); } - /* - * 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; break; case ao_flight_drogue: /* drogue to main deploy: * - * accelerometer: abs(velocity) > 100m/s (in case the drogue failed) - * 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 < -ACCEL_VEL_MAIN || - ao_flight_vel > ACCEL_VEL_MAIN || - ao_flight_pres >= ao_main_pres) + if (ao_flight_pres >= ao_main_pres) { ao_ignite(ao_igniter_main); ao_flight_state = ao_flight_main; @@ -388,8 +413,8 @@ ao_flight(void) /* drogue/main to land: * - * accelerometer: value stable and velocity less than 10m/s - * OR + * accelerometer: value stable + * AND * barometer: altitude stable and within 1000m of the launch altitude */ @@ -412,10 +437,9 @@ ao_flight(void) ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel; } - if ((abs(ao_flight_vel) < ACCEL_VEL_LAND && - (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)) + 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;