X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_flight.c;h=9eb9a0145ac54614afd519f89a88cd143061694a;hp=f50491d921b06cda84c709b9684a380774e68174;hb=2681a17500913cbaf3966f09380bb1d6b59e3863;hpb=79718e798e96567f0ba11c61f187e432fdcf95ee diff --git a/src/ao_flight.c b/src/ao_flight.c index f50491d9..9eb9a014 100644 --- a/src/ao_flight.c +++ b/src/ao_flight.c @@ -50,6 +50,8 @@ __data uint8_t ao_flight_adc; __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres; __pdata int16_t ao_accel_2g; +__xdata uint8_t ao_flight_force_idle; + /* Accelerometer calibration * * We're sampling the accelerometer through a resistor divider which @@ -75,16 +77,13 @@ __pdata int16_t ao_accel_2g; /* convert m/s to velocity count */ #define VEL_MPS_TO_COUNT(mps) (((int32_t) (((mps) / GRAVITY) * (AO_HERTZ/2))) * (int32_t) ao_accel_2g) -#define ACCEL_G 265 -#define ACCEL_NOSE_UP (ao_accel_2g / 4) +#define ACCEL_NOSE_UP (ao_accel_2g >> 2) #define ACCEL_BOOST ao_accel_2g -#define ACCEL_INT_LAND (ACCEL_G / 10) +#define ACCEL_COAST (ao_accel_2g >> 3) +#define ACCEL_INT_LAND (ao_accel_2g >> 3) #define ACCEL_VEL_MACH VEL_MPS_TO_COUNT(200) #define ACCEL_VEL_BOOST VEL_MPS_TO_COUNT(5) -int32_t accel_vel_mach; -int32_t accel_vel_boost; - /* * Barometer calibration * @@ -132,7 +131,7 @@ __xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum; /* Landing is detected by getting constant readings from both pressure and accelerometer * for a fairly long time (AO_INTERVAL_TICKS) */ -#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(20) +#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(5) #define abs(a) ((a) < 0 ? -(a) : (a)) @@ -147,7 +146,8 @@ ao_flight(void) ao_raw_pres = 0; ao_flight_tick = 0; for (;;) { - ao_sleep(&ao_adc_ring); + ao_wakeup(DATA_TO_XDATA(&ao_flight_adc)); + ao_sleep(DATA_TO_XDATA(&ao_adc_head)); while (ao_flight_adc != ao_adc_head) { __pdata uint8_t ticks; __pdata int16_t ao_vel_change; @@ -197,55 +197,76 @@ ao_flight(void) /* startup state: * - * Collect 1000 samples of acceleration and pressure + * Collect 512 samples of acceleration and pressure * data and average them to find the resting values */ - if (nsamples < 1000) { + if (nsamples < 512) { ao_raw_accel_sum += ao_raw_accel; ao_raw_pres_sum += ao_raw_pres; ++nsamples; continue; } - ao_ground_accel = (ao_raw_accel_sum / nsamples); - ao_ground_pres = (ao_raw_pres_sum / nsamples); + ao_ground_accel = ao_raw_accel_sum >> 9; + ao_ground_pres = ao_raw_pres_sum >> 9; ao_min_pres = ao_ground_pres; ao_config_get(); ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy); ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g; - accel_vel_mach = ACCEL_VEL_MACH; - accel_vel_boost = ACCEL_VEL_BOOST; ao_flight_vel = 0; ao_min_vel = 0; ao_old_vel = ao_flight_vel; ao_old_vel_tick = ao_flight_tick; - /* Go to pad state if the nose is pointing up */ + /* Check to see what mode we should go to. + * - Invalid mode if accel cal appears to be out + * - pad mode if we're upright, + * - idle mode otherwise + */ ao_config_get(); - if (ao_config.accel_plus_g != 0 && ao_config.accel_minus_g != 0 && - ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP) + if (ao_config.accel_plus_g == 0 || + ao_config.accel_minus_g == 0 || + ao_flight_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP || + ao_flight_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP) { + /* Detected an accel value outside -1.5g to 1.5g + * (or uncalibrated values), so we go into invalid mode + */ + ao_flight_state = ao_flight_invalid; + /* Allow packet mode in invalid flight state, + * Still need to be able to fix the problem! + */ + ao_packet_slave_start(); + + } else if (ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP && + !ao_flight_force_idle) + { + /* Set pad mode - we can fly! */ + ao_flight_state = ao_flight_pad; + /* Disable the USB controller in flight mode * to save power */ ao_usb_disable(); - /* Turn on telemetry system - */ + /* Turn on telemetry system */ ao_rdf_set(1); ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD); - ao_flight_state = ao_flight_pad; - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); } else { - ao_flight_state = ao_flight_idle; - - /* Turn on packet system in idle mode - */ + /* Set idle mode */ + ao_flight_state = ao_flight_idle; + + /* Turn on packet system in idle mode */ ao_packet_slave_start(); - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); } - /* signal successful initialization by turning off the LED */ - ao_led_off(AO_LED_RED); + /* wakeup threads due to state change */ + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + break; case ao_flight_pad: @@ -285,6 +306,10 @@ ao_flight(void) /* disable RDF beacon */ ao_rdf_set(0); + /* Record current GPS position by waking up GPS log tasks */ + ao_wakeup(&ao_gps_data); + ao_wakeup(&ao_gps_tracking_data); + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); break; } @@ -301,7 +326,7 @@ ao_flight(void) * deceleration, or by waiting until the maximum burn duration * (15 seconds) has past. */ - if (ao_flight_accel > ao_ground_accel + (ACCEL_G >> 2) || + if (ao_flight_accel > ao_ground_accel + ACCEL_COAST || (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX) { ao_flight_state = ao_flight_fast; @@ -432,20 +457,20 @@ ao_flight(void) 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; + 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); - /* Enable RDF beacon */ - ao_rdf_set(1); + /* turn off the ADC capture */ + ao_timer_set_adc_interval(0); + /* Enable RDF beacon */ + ao_rdf_set(1); - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } } break; case ao_flight_landed: @@ -460,11 +485,5 @@ void ao_flight_init(void) { ao_flight_state = ao_flight_startup; - ao_interval_min_accel = 0; - ao_interval_max_accel = 0x7fff; - ao_interval_min_pres = 0; - ao_interval_max_pres = 0x7fff; - ao_interval_end = AO_INTERVAL_TICKS; - ao_add_task(&flight_task, ao_flight, "flight"); }